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Sample records for active sliding mode

  1. Hybrid sliding mode control of semi-active suspension systems

    NASA Astrophysics Data System (ADS)

    Assadsangabi, Babak; Eghtesad, Mohammad; Daneshmand, Farhang; Vahdati, Nader

    2009-12-01

    In order to design a controller which can take both ride comfort and road holding into consideration, a hybrid model reference sliding mode controller (HMRSMC) is proposed. The controller includes two separate model reference sliding mode controllers (MRSMC). One of the controllers is designed so as to force the plant to follow the ideal Sky-hook model and the other is to force the plant to follow the ideal Ground-hook model; then the outputs of these two controllers are linearly combined and applied to the plant as the input. Also, since the designed controller requires a knowledge of the terrain input, this input is approximated by the unsprung mass displacement. Finally, in the simulation section of this study, the effect of the relative ratio between the two MRSMCs and the knowledge of the terrain on the performance of the controller is numerically investigated for both steady-state and transient cases.

  2. Disturbance observer based sliding mode control of active suspension systems

    NASA Astrophysics Data System (ADS)

    Deshpande, Vaijayanti S.; Mohan, B.; Shendge, P. D.; Phadke, S. B.

    2014-05-01

    In this paper, a novel scheme to reduce the acceleration of the sprung mass, used in combination with sliding mode control, is proposed. The proposed scheme estimates the effects of the uncertain, nonlinear spring and damper, load variation and the unknown road disturbance. The controller needs the states of sprung mass only, obviating the need to measure the states of the unsprung mass. The ultimate boundedness of the overall suspension system is proved. The efficacy of the method is verified through simulations for three different types of road profiles and load variation and the scheme is validated on an experimental setup. The results are compared with passive suspension system.

  3. Sliding-mode control for semi-active suspension with actuator dynamics

    NASA Astrophysics Data System (ADS)

    Chen, Bo-Chiuan; Shiu, Yu-Hua; Hsieh, Feng-Chi

    2011-02-01

    A sliding-mode controller (SMC) is proposed for semi-active suspensions to achieve ride comfort and handling performance simultaneously. First, a nonlinear quarter-car model of Macpherson strut suspension is established in Matlab/Simulink. Constrained damper force and actuator dynamics are considered for the damper model. System identification is applied to the nonlinear model for obtaining the linear model parameters. Kalman filter is designed based on the linear model and the actuator dynamics to estimate the state responses required for SMC. The sliding surface consists of tyre deflection and sprung mass acceleration. The proposed SMC is evaluated using the nonlinear model for both time and frequency domain responses. Robustness due to the increased sprung mass and deteriorated suspension is also investigated in this paper. Preliminary simulation results show improved ride comfort without sacrificing the road holding performance.

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

    NASA Astrophysics Data System (ADS)

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

    2015-01-01

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

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

    NASA Astrophysics Data System (ADS)

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

    2016-02-01

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

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

    NASA Astrophysics Data System (ADS)

    Yeganeh Fallah, Arash; Taghikhany, Touraj

    2015-12-01

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

  7. Dynamic optimal sliding-mode control for six-DOF follow-up robust tracking of active satellite

    NASA Astrophysics Data System (ADS)

    Yuankai, Li; Zhongliang, Jing; Shiqiang, Hu

    2011-09-01

    This paper presents a six-DOF follow-up tracking scheme for active target satellite tracking. The scheme is mainly composed of a robust tracking algorithm and a six-DOF follow-up control law. Firstly, a relative motion model using osculating reference orbit (ORO) is built and applied to the redundant adaptive robust extended Kalman filter (RAREKF) to form an ORO-based robust method as the tracking algorithm. Then, a dynamic optimal sliding-mode control (DOSMC) with dynamic optimal sliding surface (DOSS) is proposed to design the six-DOF follow-up control of both relative orbit and chaser attitude. The scheme structure is also discussed in the paper. Three cases are simulated to illustrate the advantage of ORO-based RAREKF and DOSMC and to verify the effectiveness of the presented follow-up tracking scheme.

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

    NASA Astrophysics Data System (ADS)

    Thenozhi, Suresh; Yu, Wen

    2016-04-01

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

  9. Theory of sliding-mode triboelectric nanogenerators.

    PubMed

    Niu, Simiao; Liu, Ying; Wang, Sihong; Lin, Long; Zhou, Yu Sheng; Hu, Youfan; Wang, Zhong Lin

    2013-11-20

    The triboelectric nanogenerator (TENG) is a powerful approach toward new energy technology, especially for portable electronics. A theoretical model for the sliding-mode TENG is presented in this work. The finite element method was utilized to characterize the distributions of electric potential, electric field, and charges on the metal electrodes of the TENG. Based on the FEM calculation, the semi-analytical results from the interpolation method and the analytical V-Q-x relationship are built to study the sliding-mode TENG. The analytical V-Q-x equation is validated through comparison with the semi-analytical results. Furthermore, based on the analytical V-Q-x equation, dynamic output performance of sliding-mode TENG is calculated with arbitrary load resistance, and good agreement with experimental data is achieved. The theory presented here is a milestone work for in-depth understanding of the working mechanism of the sliding-mode TENG, and provides a theoretical basis for further enhancement of the sliding-mode TENG for both energy scavenging and self-powered sensor applications.

  10. Sliding Mode Control of Steerable Needles

    PubMed Central

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

    2014-01-01

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

  11. Sliding Mode Control of Steerable Needles.

    PubMed

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

    2013-10-01

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

  12. Active sliding between cytoplasmic microtubules.

    PubMed

    Koonce, M P; Tong, J; Euteneuer, U; Schliwa, M

    Microtubules are versatile cellular polymers that play a role in cell shape determination and mediate various motile processes such as ciliary and flagellar bending, chromosome movements and organelle transport. That a sliding microtubule mechanism can generate force has been demonstrated in highly ordered structures such as axonemes, and microtubule-based force generation almost certainly contributes to the function of mitotic and meiotic spindles. Most cytoplasmic microtubule arrays, however, do not exhibit the structural regularity of axonemes and some spindles, and often appear disorganized. Yet many cellular activities (such as shape changes during morphogenesis, axonal extension and spindle assembly) involve highly coordinated microtubule behaviour and possibly require force generated by an intermicrotubule sliding mechanism, or perhaps use sliding to move microtubules rapidly into a protrusion for stabilization. Here we show that active sliding between cytoplasmic microtubules can occur in microtubule bundles of the amoeba Reticulomyxa. A force-producing mechanism of this sort could be used by this organism to facilitate the extension of cell processes and to generate the dynamic movements of the cytoplasmic network.

  13. A Sliding Mode Control with Optimized Sliding Surface for Aircraft Pitch Axis Control System

    NASA Astrophysics Data System (ADS)

    Lee, Sangchul; Kim, Kwangjin; Kim, Youdan

    A sliding mode controller with an optimized sliding surface is proposed for an aircraft control system. The quadratic type of performance index for minimizing the angle of attack and the angular rate of the aircraft in the longitudinal motion is used to design the sliding surface. For optimization of the sliding surface, a Hamilton-Jacobi-Bellman (HJB) equation is formulated and it is solved through a numerical algorithm using a Generalized HJB (GHJB) equation and the Galerkin spectral method. The solution of this equation denotes a nonlinear sliding surface, on which the trajectory of the system approximately satisfies the optimality condition. Numerical simulation is performed for a nonlinear aircraft model with an optimized sliding surface and a simple linear sliding surface. The simulation result demonstrates that the proposed controller can be effectively applied to the longitudinal maneuver of an aircraft.

  14. Multi-Objective Sliding Mode Control on Vehicle Cornering Stability with Variable Gear Ratio Actuator-Based Active Front Steering Systems

    PubMed Central

    Ma, Xinbo; Wong, Pak Kin; Zhao, Jing; Xie, Zhengchao

    2016-01-01

    Active front steering (AFS) is an emerging technology to improve the vehicle cornering stability by introducing an additional small steering angle to the driver’s input. This paper proposes an AFS system with a variable gear ratio steering (VGRS) actuator which is controlled by using the sliding mode control (SMC) strategy to improve the cornering stability of vehicles. In the design of an AFS system, different sensors are considered to measure the vehicle state, and the mechanism of the AFS system is also modelled in detail. Moreover, in order to improve the cornering stability of vehicles, two dependent objectives, namely sideslip angle and yaw rate, are considered together in the design of SMC strategy. By evaluating the cornering performance, Sine with Dwell and accident avoidance tests are conducted, and the simulation results indicate that the proposed SMC strategy is capable of improving the cornering stability of vehicles in practice. PMID:28036037

  15. Multi-Objective Sliding Mode Control on Vehicle Cornering Stability with Variable Gear Ratio Actuator-Based Active Front Steering Systems.

    PubMed

    Ma, Xinbo; Wong, Pak Kin; Zhao, Jing; Xie, Zhengchao

    2016-12-28

    Active front steering (AFS) is an emerging technology to improve the vehicle cornering stability by introducing an additional small steering angle to the driver's input. This paper proposes an AFS system with a variable gear ratio steering (VGRS) actuator which is controlled by using the sliding mode control (SMC) strategy to improve the cornering stability of vehicles. In the design of an AFS system, different sensors are considered to measure the vehicle state, and the mechanism of the AFS system is also modelled in detail. Moreover, in order to improve the cornering stability of vehicles, two dependent objectives, namely sideslip angle and yaw rate, are considered together in the design of SMC strategy. By evaluating the cornering performance, Sine with Dwell and accident avoidance tests are conducted, and the simulation results indicate that the proposed SMC strategy is capable of improving the cornering stability of vehicles in practice.

  16. Sliding mode control for chaotic systems based on LMI

    NASA Astrophysics Data System (ADS)

    Wang, Hua; Han, Zheng-zhi; Xie, Qi-yue; Zhang, Wei

    2009-04-01

    This paper investigates the chaos control problem for a general class of chaotic systems. A feedback controller is established to guarantee asymptotical stability of the chaotic systems based on the sliding mode control theory. A new reaching law is introduced to solve the chattering problem that is produced by traditional sliding mode control. A dynamic compensator is designed to improve the performance of the closed-loop system in sliding mode, and its parameter is obtained from a linear matrix inequality (LMI). Simulation results for the well known Chua's circuit and Lorenz chaotic system are provided to illustrate the effectiveness of the proposed scheme.

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

    SciTech Connect

    Mahjoub, Sonia; Derbel, Nabil; Mnif, Faical

    2009-03-05

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

  18. Effects of induced vibration modes on droplet sliding phenomena

    NASA Astrophysics Data System (ADS)

    Mejia, Jose Eduardo; Alvarado, Jorge; Yao, Chun-Wei; Dropwise Condensation Collaboration; Engineered Surfaces Collaboration

    2016-11-01

    An analytical and experimental investigation has been undertaken to understand the effects of induced vibration modes on droplet sliding phenomena. A mathematical model has been postulated which is capable of estimating accurately droplet sliding angles when using hydrophobic and hydrophilic surfaces. The model, which takes into account equilibrium contact angle, contact angle hysteresis, and droplet volume, has been validated using experimental data. The model has been modified to be able to estimate droplet sliding angle when different modes of vibrations are imposed on the surfaces. Experimental results to date reveal that when resonance modes of vibrations are imposed, the droplet sliding angles decrease considerably. The results also indicate that the modified model can be used effectively to relate imposed resonance frequencies to the critical sliding angle of droplets. LSAMP sponsored NSF Fellowship.

  19. Sliding mode control application in ABWR plant pressure regulation

    SciTech Connect

    Huang, Zhengyu; Edwards, Robert M.

    2002-07-01

    A sliding mode controller is designed for an ABWR nuclear power plant turbine throttle pressure regulation. To avoid chattering problem, which is common to conventional sliding mode controllers, and estimation of uncertainties and disturbances, the recursive-form sliding mode control algorithm is developed. To apply the sliding mode control technique, the original plant's 11.-order dynamics model is first transformed to a canonical form differential equation of a relative order of 2 for turbine throttle pressure's dynamics. Simulation results show that the design objectives are achieved and the resulting controller is superior to the existing PI controller in many aspects, including settling time, overshoot/undershoot in response to setpoint step input and fluctuation amplitude in the presence of external disturbances. (authors)

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

    NASA Technical Reports Server (NTRS)

    Jackson Mark E.; Shtessel, Yuri B.

    1998-01-01

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

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

    NASA Astrophysics Data System (ADS)

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

    2015-03-01

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

  2. An adaptive sliding mode control technology for weld seam tracking

    NASA Astrophysics Data System (ADS)

    Liu, Jie; Hu, Youmin; Wu, Bo; Zhou, Kaibo; Ge, Mingfeng

    2015-03-01

    A novel adaptive sliding mode control algorithm is derived to deal with seam tracking control problem of welding robotic manipulator, during the process of large-scale structure component welding. The proposed algorithm does not require the precise dynamic model, and is more practical. Its robustness is verified by the Lyapunov stability theory. The analytical results show that the proposed algorithm enables better high-precision tracking performance with chattering-free than traditional sliding mode control algorithm under various disturbances.

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

    SciTech Connect

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

    2015-03-30

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

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

    PubMed

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

    2014-07-01

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

  5. Sliding mode controllers for a tempered glass furnace.

    PubMed

    Almutairi, Naif B; Zribi, Mohamed

    2016-01-01

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

  6. Sliding mode controller for a photovoltaic pumping system

    NASA Astrophysics Data System (ADS)

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

    2017-03-01

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

  7. Robust sliding mode continuous control of an IM drive

    SciTech Connect

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

    1995-12-31

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

  8. A sliding mode controller for vehicular traffic flow

    NASA Astrophysics Data System (ADS)

    Li, Yongfu; Kang, Yuhao; Yang, Bin; Peeta, Srinivas; Zhang, Li; Zheng, Taixong; Li, Yinguo

    2016-11-01

    This study proposes a sliding mode controller for vehicular traffic flow based on a car-following model to enhance the smoothness and stability of traffic flow evolution. In particular, the full velocity difference (FVD) model is used to capture the characteristics of vehicular traffic flow. The proposed sliding mode controller is designed in terms of the error between the desired space headway and the actual space headway. The stability of the controller is guaranteed using the Lyapunov technique. Numerical experiments are used to compare the performance of sliding mode control (SMC) with that of feedback control. The results illustrate the effectiveness of the proposed SMC method in terms of the distribution smoothness and stability of the space headway, velocity, and acceleration profiles. They further illustrate that the SMC strategy is superior to that of the feedback control strategy, while enabling computational efficiency that can aid in practical applications.

  9. Robust observer-based adaptive fuzzy sliding mode controller

    NASA Astrophysics Data System (ADS)

    Oveisi, Atta; Nestorović, Tamara

    2016-08-01

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

  10. 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.

  11. Adaptive robust controller based on integral sliding mode concept

    NASA Astrophysics Data System (ADS)

    Taleb, M.; Plestan, F.

    2016-09-01

    This paper proposes, for a class of uncertain nonlinear systems, an adaptive controller based on adaptive second-order sliding mode control and integral sliding mode control concepts. The adaptation strategy solves the problem of gain tuning and has the advantage of chattering reduction. Moreover, limited information about perturbation and uncertainties has to be known. The control is composed of two parts: an adaptive one whose objective is to reject the perturbation and system uncertainties, whereas the second one is chosen such as the nominal part of the system is stabilised in zero. To illustrate the effectiveness of the proposed approach, an application on an academic example is shown with simulation results.

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

    NASA Technical Reports Server (NTRS)

    Shtessel, Yuri; Hall, Charles; Jackson, Mark

    2000-01-01

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

  13. Decentralized sliding mode control of nonlinear flexible robots

    SciTech Connect

    Parker, G.G.; Robinett, R.D.; Segalman, D.J.; Inman, D.J.

    1994-06-01

    A technique using augmented sliding mode control for robust, real-time control of flexible multiple link robots is presented. For the purpose of controller design, the n-link, n-joint robot is subdivided into n single joint, single link subsystems. A sliding surface for each subsystem is specified so as to be globally, asymptotically stable. Each sliding surface contains rigid-body angular velocity, angular displacement and flexible body generalized velocities. The flexible body generalized accelerations are treated as disturbances during the controller design. This has the advantage of not requiring explicit equations for the flexible body motion. The result is n single input, single output controllers acting at the n joints of the robot, controlling rigid body angular displacement and providing damping for flexible body modes. Furthermore, the n controllers can be operated in parallel so that compute speed is independent of the number of links, affording real-time, robust, control.

  14. Shape control of distributed parameter reflectors using sliding mode control

    NASA Astrophysics Data System (ADS)

    Andoh, Fukashi; Washington, Gregory N.; Utkin, Vadim

    2001-08-01

    Sliding mode control has become one of the most powerful control methods for variable structure systems, a set of continuous systems with an appropriate switching logic. Its robustness properties and order reduction capability have made sliding mode control one of the most efficient tools for relatively higher order nonlinear plants operating under uncertain conditions. Piezo-electric materials possess the property of creating a charge when subjected to a mechanical strain, and of generating a strain when subjected to an electric field. Piezo-electric actuators are known to have a hysteresis due to the thermal motion and Coulomb interaction of Weiss domains. Because of the thermal effect the hysteresis of piezo-electric actuators is reproducible only with some uncertainty in experiments. The robustness of sliding mode control under uncertain conditions has an advantage in handling the hysteresis of piezo-electric actuators. In this research sliding mode control is used to control the shape of one- and two-dimensionally curved adaptive reflectors with piezo-electric actuators. Four discrete linear actuators for the one-dimensionally curved reflector and eight actuators for the two-dimensionally curved reflector are assumed.

  15. Robust Neural Sliding Mode Control of Robot Manipulators

    NASA Astrophysics Data System (ADS)

    Hiep, Nguyen Tran; cat, Pham Thuong

    2009-03-01

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

  16. Robust Neural Sliding Mode Control of Robot Manipulators

    SciTech Connect

    Nguyen Tran Hiep; Pham Thuong Cat

    2009-03-05

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

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

    NASA Technical Reports Server (NTRS)

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

    1994-01-01

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

  18. Anomaly Detection in Test Equipment via Sliding Mode Observers

    NASA Technical Reports Server (NTRS)

    Solano, Wanda M.; Drakunov, Sergey V.

    2012-01-01

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

  19. Experimental sliding mode control of a flexible single link manipulator

    NASA Astrophysics Data System (ADS)

    Qian, Timothy Wei Tie

    1993-09-01

    A study was conducted to explore and develop practical controller designs for a flexible manipulator based on the variable structure (VS) system and sliding mode (SM) theory. A new control design method is first proposed based on the continuous time VSSM theory, which can significantly simplify the VS system design process. Moreover, the variables concerned can be assigned separate gains. Direct application of the VSSM control system to the flexible arm, however, has limitations due to the inherent properties of the system. To solve this problem, facilitate digital implementation, and eliminate undesirable chattering in conventional VS system control, the discrete time quasi sliding mode control (DQSMC) is developed. Two control algorithms are derived satisfying the conditions for existence of discrete time sliding hypersurfaces. It is proven that the DQSMC design is equivalent to a full state feedback with its steady state motion constrained to the sliding hypersurfaces, and that DQSMC provides a general structure unifying the three different kinds of discrete time SM control. Experimental testing of the DQSMC controller showed good results, which compared favorably to the linear quadratic Gaussian controller under the same load variations. A novel approach was then devised to realize the proposed new controller designs.

  20. Sliding mode control of a simulated MEMS gyroscope.

    PubMed

    Batur, C; Sreeramreddy, T; Khasawneh, Q

    2006-01-01

    The microelectromechanical systems (MEMS) are penetrating more and more into measurement and control problems because of their small size, low cost, and low power consumption. The vibrating gyroscope is one of those MEMS devices that will have a significant impact on the stability control systems in transportation industry. This paper studies the design and control of a vibrating gyroscope. The device has been constructed in a Pro-E environment and its model has been simulated in the finite-element domain in order to approximate its dynamic characteristics with a lumped model. A model reference adaptive feedback controller and the sliding mode controller have been considered to guarantee the stability of the device. It is shown that the sliding mode controller of the vibrating proof mass results in a better estimate of the unknown angular velocity than that of the model reference adaptive feedback controller.

  1. Chattering-Free Sliding Mode Control with Unmodeled Dynamics

    NASA Technical Reports Server (NTRS)

    Krupp, Don; Shtessel, Yuri B.

    1999-01-01

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

  2. Glucose level regulation via integral high-order sliding modes.

    PubMed

    Dorel, Lela

    2011-04-01

    Diabetes is a condition in which the body either does not produce enough insulin, or does not properly respond to it. This causes the glucose level in blood to increase. An algorithm based on Integral High-Order Sliding Mode technique is proposed, which keeps the normal blood glucose level automatically releasing insulin into the blood. The system is highly insensitive to inevitable parametric and model uncertainties, measurement noises and small delays.

  3. Sliding Mode Control Applied to Reconfigurable Flight Control Design

    NASA Technical Reports Server (NTRS)

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

    2002-01-01

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

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

    NASA Astrophysics Data System (ADS)

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

    2016-02-01

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

  5. Interpolating sliding mode observer for a ball and beam system

    NASA Astrophysics Data System (ADS)

    Luai Hammadih, Mohammad; Hosani, Khalifa Al; Boiko, Igor

    2016-09-01

    A principle of interpolating sliding mode observer is introduced in this paper. The observer incorporates multiple linear observers through interpolation of multiple estimates, which is treated as a type of adaptation. The principle is then applied to the ball and beam system for observation of the slope of the beam from the measurement of the ball position. The linearised model of the ball and beam system using multiple linearisation points is developed. The observer dynamics implemented in Matlab/Simulink Real Time Workshop environment. Experiments conducted on the ball and beam experimental setup demonstrate excellent performance of the designed novel interpolating (adaptive) observer.

  6. Sliding Mode Control of a Slewing Flexible Beam

    NASA Technical Reports Server (NTRS)

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

    1997-01-01

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

  7. Sliding mode control of electromagnetic tethered satellite formation

    NASA Astrophysics Data System (ADS)

    Hallaj, Mohammad Amin Alandi; Assadian, Nima

    2016-08-01

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

  8. Adaptive suboptimal second-order sliding mode control for microgrids

    NASA Astrophysics Data System (ADS)

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

    2016-09-01

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

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

    NASA Astrophysics Data System (ADS)

    Ren, Haipeng; Fan, Juntao

    2016-09-01

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

  10. Design of sliding mode control for a class of uncertain switched systems

    NASA Astrophysics Data System (ADS)

    Liu, Yonghui; Jia, Tinggang; Niu, Yugang; Zou, Yuanyuan

    2015-04-01

    This paper considers the problem of sliding mode control for a class of uncertain switched systems with parameter uncertainties and external disturbances. A key feature of the controlled system is that each subsystem is not required to share the same input channel, which was usually assumed in some existing works. By means of a weighted sum of the input matrix, a common sliding surface is designed in this work. It is shown that the reachability of the sliding surface can be ensured by the present sliding mode controller. Moreover, the sliding motion on the specified sliding surface is asymptotically stable under the proposed switching signal dependent on the state and time. Additionally, the above results are further extended to the case that the system states are unavailable. Both the sliding surface and sliding mode controller are designed by utilising state-observer. Finally, numerical simulation examples are given to illustrate the effectiveness of the present method.

  11. Hybrid neural network fraction integral terminal sliding mode control of an Inchworm robot manipulator

    NASA Astrophysics Data System (ADS)

    Rahmani, Mehran; Ghanbari, Ahmad; Ettefagh, Mir Mohammad

    2016-12-01

    This paper proposes a control scheme based on the fraction integral terminal sliding mode control and adaptive neural network. It deals with the system model uncertainties and the disturbances to improve the control performance of the Inchworm robot manipulator. A fraction integral terminal sliding mode control applies to the Inchworm robot manipulator to obtain the initial stability. Also, an adaptive neural network is designed to approximate the system uncertainties and unknown disturbances to reduce chattering phenomena. The weight matrix of the proposed adaptive neural network can be updated online, according to the current state error information. The stability of the proposed control method is proved by Lyapunov theory. The performance of the adaptive neural network fraction integral terminal sliding mode control is compared with three other conventional controllers such as sliding mode control, integral terminal sliding mode control and fraction integral terminal sliding mode control. Simulation results show the effectiveness of the proposed control method.

  12. A novel adaptive sliding mode control with application to MEMS gyroscope.

    PubMed

    Fei, Juntao; Batur, Celal

    2009-01-01

    This paper presents a new adaptive sliding mode controller for MEMS gyroscope; an adaptive tracking controller with a proportional and integral sliding surface is proposed. The adaptive sliding mode control algorithm can estimate the angular velocity and the damping and stiffness coefficients in real time. A proportional and integral sliding surface, instead of a conventional sliding surface is adopted. An adaptive sliding mode controller that incorporates both matched and unmatched uncertainties and disturbances is derived and the stability of the closed-loop system is established. The numerical simulation is presented to verify the effectiveness of the proposed control scheme. It is shown that the proposed adaptive sliding mode control scheme offers several advantages such as the consistent estimation of gyroscope parameters including angular velocity and large robustness to parameter variations and external disturbances.

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

    NASA Technical Reports Server (NTRS)

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

    2010-01-01

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

  14. Frequency-Shaped Sliding Mode Control for Rudder Roll Damping System of Robotic Boat

    NASA Astrophysics Data System (ADS)

    Bao, Xinping; Yu, Zhenyu; Nonami, Kenzo

    In this paper, a robotic boat model of combined yaw and roll rate is obtained by a system identification approach. The identified system is designed with frequency-shaped sliding mode control. The control scheme is composed of a sliding mode observer and a sliding mode controller. The stability and reachability of the switching function are proved by Lyapunov theory. Computer simulations and experiment carried out at INAGE offshore show that successful course keeping and roll reduction results are achieved.

  15. Finite-time control of DC-DC buck converters via integral terminal sliding modes

    NASA Astrophysics Data System (ADS)

    Chiu, Chian-Song; Shen, Chih-Teng

    2012-05-01

    This article presents novel terminal sliding modes for finite-time output tracking control of DC-DC buck converters. Instead of using traditional singular terminal sliding mode, two integral terminal sliding modes are introduced for robust output voltage tracking of uncertain buck converters. Different from traditional sliding mode control (SMC), the proposed controller assures finite convergence time for the tracking error and integral tracking error. Furthermore, the singular problem in traditional terminal SMC is removed from this article. When considering worse modelling, adaptive integral terminal SMC is derived to guarantee finite-time convergence under more relaxed stability conditions. In addition, several experiments show better start-up performance and robustness.

  16. Sliding Mode Control of a Thermal Mixing Process

    NASA Technical Reports Server (NTRS)

    Richter, Hanz; Figueroa, Fernando

    2004-01-01

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

  17. Multicell actuator based on a sliding mode control

    NASA Astrophysics Data System (ADS)

    Béthoux, O.; Barbot, J.-P.; Hilairet, M.

    2008-08-01

    This paper deals with reliability of motor drive systems. It focuses on the switching power converter which is the weakest drive part. It investigates a new architecture which provides intrinsic redundancy. The method used in this fault switch detection and diagnosis is based on a sliding mode observer. The original aspect of this new approach is that the observer influences the control algorithm in order to rule out or accept the possibility of the device failure. This leads to the right decision which induces the rebuilding of the converter topology. This fault tolerant control strategy assures continuous operation even though one switch failure occurs. This article has been submitted as part of “IET Colloquium on Reliability in Electromagnetic Systems”, 24 and 25 May 2007, Paris

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

    PubMed

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

    2014-03-01

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

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

    PubMed

    Zhang, Jinhui; Lin, Yujuan; Feng, Gang

    2015-12-01

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

  20. Extended observer based on adaptive second order sliding mode control for a fixed wing UAV.

    PubMed

    Castañeda, Herman; Salas-Peña, Oscar S; León-Morales, Jesús de

    2017-01-01

    This paper addresses the design of attitude and airspeed controllers for a fixed wing unmanned aerial vehicle. An adaptive second order sliding mode control is proposed for improving performance under different operating conditions and is robust in presence of external disturbances. Moreover, this control does not require the knowledge of disturbance bounds and avoids overestimation of the control gains. Furthermore, in order to implement this controller, an extended observer is designed to estimate unmeasurable states as well as external disturbances. Additionally, sufficient conditions are given to guarantee the closed-loop stability of the observer based control. Finally, using a full 6 degree of freedom model, simulation results are obtained where the performance of the proposed method is compared against active disturbance rejection based on sliding mode control.

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

    NASA Technical Reports Server (NTRS)

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

    1991-01-01

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

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

    PubMed

    Ding, Zhixia; Shen, Yi

    2016-04-01

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

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

    NASA Astrophysics Data System (ADS)

    Kapoor, Neha; Ohri, Jyoti

    2016-06-01

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

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

    NASA Astrophysics Data System (ADS)

    Kapoor, Neha; Ohri, Jyoti

    2017-02-01

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

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

    NASA Technical Reports Server (NTRS)

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

    2002-01-01

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

  6. Time-scaling based sliding mode control for Neuromuscular Electrical Stimulation under uncertain relative degrees.

    PubMed

    Oliveira, Tiago Roux; Costa, Luiz Rennó; Catunda, João Marcos Yamasaki; Pino, Alexandre Visintainer; Barbosa, William; Souza, Márcio Nogueira de

    2017-03-28

    This paper addresses the application of the sliding mode approach to control the arm movements by artificial recruitment of muscles using Neuromuscular Electrical Stimulation (NMES). Such a technique allows the activation of motor nerves using surface electrodes. The goal of the proposed control system is to move the upper limbs of subjects through electrical stimulation to achieve a desired elbow angular displacement. Since the human neuro-motor system has individual characteristics, being time-varying, nonlinear and subject to uncertainties, the use of advanced robust control schemes may represent a better solution than classical Proportional-Integral (PI) controllers and model-based approaches, being simpler than more sophisticated strategies using fuzzy logic or neural networks usually applied in this control problem. The objective is the introduction of a new time-scaling base sliding mode control (SMC) strategy for NMES and its experimental evaluation. The main qualitative advantages of the proposed controller via time-scaling procedure are its independence of the knowledge of the plant relative degree and the design/tuning simplicity. The developed sliding mode strategy allows for chattering alleviation due to the impact of the integrator in smoothing the control signal. In addition, no differentiator is applied to construct the sliding surface. The stability analysis of the closed-loop system is also carried out by using singular perturbation methods. Experimental results are conducted with healthy volunteers as well as stroke patients. Quantitative results show a reduction of 45% in terms of root mean square (RMS) error (from 5.9° to [Formula: see text] ) in comparison with PI control scheme, which is similar to that obtained in the literature.

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

    PubMed

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

    2016-11-22

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

  8. Stabilization and tracking control of X-Z inverted pendulum with sliding-mode control.

    PubMed

    Wang, Jia-Jun

    2012-11-01

    X-Z inverted pendulum is a new kind of inverted pendulum which can move with the combination of the vertical and horizontal forces. Through a new transformation, the X-Z inverted pendulum is decomposed into three simple models. Based on the simple models, sliding-mode control is applied to stabilization and tracking control of the inverted pendulum. The performance of the sliding mode control is compared with that of the PID control. Simulation results show that the design scheme of sliding-mode control is effective for the stabilization and tracking control of the X-Z inverted pendulum.

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

    PubMed Central

    Zhao, Guoliang; Li, Hongxing

    2013-01-01

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

  10. Tensor product model transformation based adaptive integral-sliding mode controller: equivalent control method.

    PubMed

    Zhao, Guoliang; Sun, Kaibiao; Li, Hongxing

    2013-01-01

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

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

    NASA Astrophysics Data System (ADS)

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

    2015-11-01

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

  12. Large motion tracking control for thrust magnetic bearings with fuzzy logic, sliding mode, and direct linearization

    NASA Astrophysics Data System (ADS)

    Minihan, T. P.; Lei, S.; Sun, G.; Palazzolo, A.; Kascak, A. F.; Calvert, T.

    2003-06-01

    Conventional use of magnetic bearings relies on a zero reference to keep the rotor centered in the radial and axial axes. This paper compares different control methods developed for the alternate control task of tracking an axial dynamic target. Controllers based on fuzzy logic, sliding mode, and direct linearization were designed to meet this task. Performance criteria, such as maximum axial displacement, minimum phase lag and I2R power losses were compared for each controller. The large motion, tracking problem for a rotor has utility in applications where dynamic seal clearances are required. This has a variety of potential applications in turbo-machinery, such as active stall control.

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

    PubMed

    Liu, Xiangjie; Han, Yaozhen

    2014-11-01

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

  14. Optimal integral sliding mode control scheme based on pseudospectral method for robotic manipulators

    NASA Astrophysics Data System (ADS)

    Liu, Rongjie; Li, Shihua

    2014-06-01

    For a multi-input multi-output nonlinear system, an optimal integral sliding mode control scheme based on pseudospectral method is proposed in this paper. And the controller is applied on rigid robotic manipulators with constraints. First, a general form of integral sliding mode is designed with the aim of restraining disturbance. Then, pseudospectral method is adopted to deal with constrained optimal control problem. In consideration of the benefits of both methods, an optimal integral sliding mode controller is given, which is based on the combination of integral sliding mode and pseudospectral method. The stability analysis shows that the controller can guarantee stability of robotic manipulator system. Simulations show the effectiveness of proposed method.

  15. An Application of Chaotic Chua's System for Secure Chaotic Communication Based on Sliding Mode observer

    NASA Astrophysics Data System (ADS)

    Kemih, K.; Halimi, M.; Ghanes, M.; Zhang, G.

    2011-12-01

    In this paper, we study the design and implementation of analog secure communication systems via synchronized chaotic Chua's circuit with sliding mode observer. For this, we adopt an approach based on an inclusion of the message in the transmitter and in the receiver; we use a sliding mode observer with un-known input in order to recover the information. Finally, an analog electronic circuit with Multisim software is designed to physically realize the complete system (transmitter-receiver).

  16. Simulation and Research of Control-System for PMSM Based on Sliding Mode Control

    NASA Astrophysics Data System (ADS)

    Baofeng, Lv; Guoxiang, Zhang

    In this paper, permanent magnet synchronous motor rotor flux oriented control strategy is studied, for the key issues of vector control is to observe the rotor flux, the control system is given based on sliding mode observer, and the sliding mode rotor flux observer is designed, with MATLAB/SIMULINK simulation, the results of simulation show that the system with wide speed range, has a good dynamic and static performance.

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

    PubMed

    Ho, Hung-Jung; Chen, Tien-Chi

    2009-11-01

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

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

    NASA Astrophysics Data System (ADS)

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

    2014-03-01

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

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

    PubMed

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

    2013-03-01

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

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

    NASA Astrophysics Data System (ADS)

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

    2016-09-01

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

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

    PubMed

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

    2014-12-01

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

  2. High-vacuum adhesion and friction properties of sliding contact-mode micromachines

    NASA Astrophysics Data System (ADS)

    Xiang, H.; Komvopoulos, K.

    2013-07-01

    The evolution of adhesion and friction in contact-mode micromachines operated in high vacuum was studied by tracking changes in the adhesive pressure, interfacial shear strength, and static coefficient of friction with accumulating sliding cycles. Low adhesion and high static friction observed during the initial stage of sliding were followed by monotonically intensifying adhesion and decreasing friction until reaching an equilibrium stage at steady-state sliding. This trend revealed the existence of two friction regimes in which asperity deformation and adhesion were the dominant friction mechanisms. Scanning electron microscopy and atomic force microscopy observations indicated that sliding resulted in physical and chemical surface changes. The evolution of the adhesion and friction properties with sliding cycles is attributed to the increase of both the real contact area and the work of adhesion due to nanoscale surface smoothening and the removal of contaminant adsorbents, respectively.

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

    NASA Technical Reports Server (NTRS)

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

    2000-01-01

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

  4. Global Sliding Mode Control for the Bank-to-Turn of Hypersonic Glide Vehicle

    NASA Astrophysics Data System (ADS)

    Zhang, J.; Yu, Y. F.; Yan, P. P.; Fan, Y. H.; Guo, X. W.

    2017-03-01

    The technology of Bank-to-Turn has been recognized as an attractive direction due to their significance for the control of hypersonic glide vehicle. Strong coupling existing among pitch, yaw and roll channel was a great challenge for banking to turn, and thus a novel global sliding mode controller was designed for hypersonic glider in this paper. Considering the coupling among channels as interference, we can use invariance principle of sliding mode motion to realize the decoupling control. The global sliding mode control system could eliminate the stage of reaching, which can lead to the realization of whole systematic process decoupling control. When the global sliding mode factor was designed, a minimum norm pole assignment method of the sliding mode matrix was introduced to improve the robustness of the system. The method of continuity of symbolic function was adopted to overcome the chatter, which furtherly modify the transient performance of the system. The simulation results show that this method has good performance of three channel decoupling control and guidance command tracking. And it can meet the requirements of the dynamic performance of the system.

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

    PubMed

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

    2014-05-01

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

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

    NASA Astrophysics Data System (ADS)

    Ma, Zhiqiang; Sun, Guanghui

    2016-10-01

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

  7. Advanced Interval Type-2 Fuzzy Sliding Mode Control for Robot Manipulator

    PubMed Central

    Hwang, Ji-Hwan; Kang, Young-Chang

    2017-01-01

    In this paper, advanced interval type-2 fuzzy sliding mode control (AIT2FSMC) for robot manipulator is proposed. The proposed AIT2FSMC is a combination of interval type-2 fuzzy system and sliding mode control. For resembling a feedback linearization (FL) control law, interval type-2 fuzzy system is designed. For compensating the approximation error between the FL control law and interval type-2 fuzzy system, sliding mode controller is designed, respectively. The tuning algorithms are derived in the sense of Lyapunov stability theorem. Two-link rigid robot manipulator with nonlinearity is used to test and the simulation results are presented to show the effectiveness of the proposed method that can control unknown system well. PMID:28280505

  8. Disturbance observer based sliding mode control of nonlinear mismatched uncertain systems

    NASA Astrophysics Data System (ADS)

    Ginoya, Divyesh; Shendge, P. D.; Phadke, S. B.

    2015-09-01

    This paper presents a new design of multiple-surface sliding mode control for a class of nonlinear uncertain systems with mismatched uncertainties and disturbances. In the method of multiple-surface sliding mode control, it is required to compensate for the derivatives of the virtual inputs which gives rise to the so-called problem of 'explosion of terms'. In this paper a disturbance observer based multiple-surface sliding mode control is proposed to estimate the uncertainties as well as the derivative of the virtual inputs to overcome this problem. The practical stability of the overall system is proved. The effectiveness of the proposed control strategy is illustrated via simulation of a benchmark problem and comparison with other control strategies. The proposed scheme is validated by implementing it on a serial flexible joint manipulator in the laboratory.

  9. Discrete-time sliding mode control for uncertain systems with state and input delays

    NASA Astrophysics Data System (ADS)

    Pai, Ming-Chang

    2010-12-01

    This article presents a discrete-time sliding mode control method for the robust stabilisation of linear uncertain multi-input discrete-time systems with state and input delays. The systems are assumed to have structured mismatched time-varying parameter uncertainties. A specified switching surface is proposed and a sliding mode controller is derived to ensure the existence of the quasi-sliding mode. Based on the improved Lyapunov function and linear matrix inequality technique, delay-independent sufficient conditions for the design of a stable switching surface are given and the stability of the overall closed-loop system is guaranteed. Neither chattering phenomenon will occur nor the knowledge of upper bound of uncertainties is required. Finally, simulation results demonstrate the efficacy of the proposed control methodology.

  10. Robust sliding mode control for fractional-order chaotic economical system with parameter uncertainty and external disturbance

    NASA Astrophysics Data System (ADS)

    Zhou, Ke; Wang, Zhi-Hui; Gao, Li-Ke; Sun, Yue; Ma, Tie-Dong

    2015-03-01

    This paper presents a modified sliding mode control for fractional-order chaotic economical systems with parameter uncertainty and external disturbance. By constructing the suitable sliding mode surface with fractional-order integral, the effective sliding mode controller is designed to realize the asymptotical stability of fractional-order chaotic economical systems. Comparing with the existing results, the main results in this paper are more practical and rigorous. Simulation results show the effectiveness and feasibility of the proposed sliding mode control method. Project supported by the National Natural Science Foundation of China (Grant Nos. 51207173 and 51277192).

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

    NASA Astrophysics Data System (ADS)

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

    2016-06-01

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

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

    SciTech Connect

    Kalsi, Karanjit; Hui, Stefen; Zak, Stanislaw

    2011-06-29

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

  13. Integral backstepping sliding mode control for underactuated systems: swing-up and stabilization of the Cart-Pendulum System.

    PubMed

    Adhikary, Nabanita; Mahanta, Chitralekha

    2013-11-01

    In this paper an integral backstepping sliding mode controller is proposed for controlling underactuated systems. A feedback control law is designed based on backstepping algorithm and a sliding surface is introduced in the final stage of the algorithm. The backstepping algorithm makes the controller immune to matched and mismatched uncertainties and the sliding mode control provides robustness. The proposed controller ensures asymptotic stability. The effectiveness of the proposed controller is compared against a coupled sliding mode controller for swing-up and stabilization of the Cart-Pendulum System. Simulation results show that the proposed integral backstepping sliding mode controller is able to reject both matched and mismatched uncertainties with a chattering free control law, while utilizing less control effort than the sliding mode controller.

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

    NASA Technical Reports Server (NTRS)

    Wells, Scott R.

    2002-01-01

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

  15. Application of sliding mode methods to the design of reconfigurable flight control systems

    NASA Astrophysics Data System (ADS)

    Wells, Scott Russell

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

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

    NASA Technical Reports Server (NTRS)

    Shtessel, Yuri B.; Hall, Charles E.

    2000-01-01

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

  17. Fractional order sliding mode control for tethered satellite deployment with disturbances

    NASA Astrophysics Data System (ADS)

    Kang, Junjie; Zhu, Zheng H.; Wang, Wei; Li, Aijun; Wang, Changqing

    2017-01-01

    This paper proposes a fractional order sliding mode control for the deployment of tethered space systems with the consideration of uncertainty of external disturbances and unmodeled system dynamics. The proposed fractional order sliding mode control consists of two sub-sliding manifolds that are defined separately for the actuated and unactuated states. This, in turn, generates a control scheme to make all states move toward to the desired states. The stability analysis of the proposed control law indicates not only all states converge to the desired states at equilibrium but also disturbances caused by the uncertainty can be suppressed satisfactorily. Parametric studies are conducted to investigate the influences of fractional order and sub-sliding manifold of unactuated states on the performance of the proposed control law. The performance is compared with the sliding mode, PD and fractional order PD control laws for a baseline scenario of tether deployment. The proposed control law performs better than others in the settling time and the maximum pitch angle control in the presence of unwanted disturbances. Effectiveness and robustness of the proposed control law are demonstrated by computer simulations.

  18. Dynamic Sliding Mode Autopilot for Nonlinear Non-Minimum Phase Flight Vehicle

    NASA Astrophysics Data System (ADS)

    Bahrami, Mohsen; Ebrahimi, Behrouz; Roshanian, Jafar

    Design and synthesis of a nonlinear non-minimum phase supersonic flight vehicle longitudinal dynamics control for g commands output tracking are presented. The non-minimum nature of the resulting input/output pair necessitates using a modified switching manifold in sliding mode control theory. The dynamic sliding manifold is designed to compensate for unstable internal dynamics of the system associated with coupling between the moment generating actuators and aerodynamic forces on the flight vehicle. The method is simple to implement in practical applications and enables the sliding mode control design to exhibit the desired dynamic properties during the entire output-tracking process independent of matched perturbations and accommodates unmatched perturbations. Simulation results are presented to demonstrate the performance, robustness, and stability of the autopilot.

  19. Robust stabilization of underactuated nonlinear systems: A fast terminal sliding mode approach.

    PubMed

    Khan, Qudrat; Akmeliawati, Rini; Bhatti, Aamer Iqbal; Khan, Mahmood Ashraf

    2017-01-01

    This paper presents a fast terminal sliding mode based control design strategy for a class of uncertain underactuated nonlinear systems. Strategically, this development encompasses those electro-mechanical underactuated systems which can be transformed into the so-called regular form. The novelty of the proposed technique lies in the hierarchical development of a fast terminal sliding attractor design for the considered class. Having established sliding mode along the designed manifold, the close loop dynamics become finite time stable which, consequently, result in high precision. In addition, the adverse effects of the chattering phenomenon are reduced via strong reachability condition and the robustness of the system against uncertainties is confirmed theoretically. A simulation as well as experimental study of an inverted pendulum is presented to demonstrate the applicability of the proposed technique.

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

    PubMed

    Camacho, Oscar; De la Cruz, Francisco

    2004-04-01

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

  1. Direct power control of DFIG wind turbine systems based on an intelligent proportional-integral sliding mode control.

    PubMed

    Li, Shanzhi; Wang, Haoping; Tian, Yang; Aitouch, Abdel; Klein, John

    2016-09-01

    This paper presents an intelligent proportional-integral sliding mode control (iPISMC) for direct power control of variable speed-constant frequency wind turbine system. This approach deals with optimal power production (in the maximum power point tracking sense) under several disturbance factors such as turbulent wind. This controller is made of two sub-components: (i) an intelligent proportional-integral module for online disturbance compensation and (ii) a sliding mode module for circumventing disturbance estimation errors. This iPISMC method has been tested on FAST/Simulink platform of a 5MW wind turbine system. The obtained results demonstrate that the proposed iPISMC method outperforms the classical PI and intelligent proportional-integral control (iPI) in terms of both active power and response time.

  2. A sliding mode control proposal for open-loop unstable processes.

    PubMed

    Rojas, Rubén; Camacho, Oscar; González, Luis

    2004-04-01

    This papers presents a sliding mode controller based on a first-order-plus-dead-time model of the process for controlling open-loop unstable systems. The proposed controller has a simple and fixed structure with a set of tuning equations as a function of the desired performance. Both linear and nonlinear models were used to study the controller performance by computer simulations.

  3. Sliding mode control for a three phase multicellular inverter dedicated to renewable energy systems

    NASA Astrophysics Data System (ADS)

    Hemici, K.; Zegaoui, A.; Djahbar, A.; Bokhtache, A. Aissa; Kessaissia, F. Z.; Allouache, H.; Mahmoudi, M. O.; Aillerie, M.

    2017-02-01

    In this paper, Sliding Mode controller has been sized to control multi-cell converters configured as a three-phase multicellular inverter. Unlike traditional inverters, multicellular inverters have the following advantages: lower switching frequency, high number of output levels, and less voltage constraints on the power switch. Significant performances are provided with this structure, which is constituted with flying capacitors. The main purpose of this paper is to present the model and generate commutation sliding-surfaces based on a Lyapunov function. The performed simulations point the efficiency of the proposed strategy with a three-phase multicellular inverters and allow to assess the performances and the robustness of the synthesized controller.

  4. Model-based Sliding Mode Controller of Anti-lock Braking System

    NASA Astrophysics Data System (ADS)

    Zheng, Lin; Luo, Yue-Gang; Kang, Jing; Shi, Zhan-Qun

    2016-05-01

    The anti-lock braking system (ABS) used in automobiles is used to prevent wheel from lockup and to maintain the steering ability and stability. The sliding mode controller is able to control nonlinear system steadily. In this research, a one-wheel dynamic model with ABS control is built up using model-based method. Using the sliding model controller, the simulation results by using Matlab/Simulink show qualified data compared with optimal slip rate. By using this method, the ABS brake efficiency is improved efficiently.

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

    NASA Technical Reports Server (NTRS)

    Vetter, Travis Kenneth

    2002-01-01

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

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

    NASA Astrophysics Data System (ADS)

    Stott, James Edward, Jr.

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

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

    PubMed

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

    2016-02-01

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

  8. Event-triggered sliding mode control for a class of nonlinear systems

    NASA Astrophysics Data System (ADS)

    Behera, Abhisek K.; Bandyopadhyay, Bijnan

    2016-09-01

    Event-triggering strategy is one of the real-time control implementation techniques which aims at achieving minimum resource utilisation while ensuring the satisfactory performance of the closed-loop system. In this paper, we address the problem of robust stabilisation for a class of nonlinear systems subject to external disturbances using sliding mode control (SMC) by event-triggering scheme. An event-triggering scheme is developed for SMC to ensure the sliding trajectory remains confined in the vicinity of sliding manifold. The event-triggered SMC brings the sliding mode in the system and thus the steady-state trajectories of the system also remain bounded within a predesigned region in the presence of disturbances. The design of event parameters is also given considering the practical constraints on control execution. We show that the next triggering instant is larger than its immediate past triggering instant by a given positive constant. The analysis is also presented with taking delay into account in the control updates. An upper bound for delay is calculated to ensure stability of the system. It is shown that with delay steady-state bound of the system is increased than that of the case without delay. However, the system trajectories remain bounded in the case of delay, so stability is ensured. The performance of this event-triggered SMC is demonstrated through a numerical simulation.

  9. Studying the Activities of Microorganisms in Soil Using Slides.

    ERIC Educational Resources Information Center

    Cullimore, D. Roy; Pipe, Annette E.

    1980-01-01

    Two implanted slide techniques are described by which activity of proteolylic bacteria and the growth of algae in the soil can be readily studied by school students using simple apparatus and methods. Variations are suggested for studying the effects of agricultural practices and environmental conditions on the soil bacteria and algae. (Author/DS)

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

    PubMed

    Fan, Quan-Yong; Yang, Guang-Hong

    2016-01-01

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

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

    NASA Astrophysics Data System (ADS)

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

    2014-10-01

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

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

    SciTech Connect

    Zhou, Xu; Liu, Rui; Zhang, Jiucai; Zhang, Xiaoli

    2016-08-21

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

  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.

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

    PubMed

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

    2015-09-01

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

  15. Adaptive uniform finite-/fixed-time convergent second-order sliding-mode control

    NASA Astrophysics Data System (ADS)

    Basin, Michael; Bharath Panathula, Chandrasekhara; Shtessel, Yuri

    2016-09-01

    This paper presents an adaptive gain algorithm for second-order sliding-mode control (2-SMC), specifically a super-twisting (STW)-like controller, with uniform finite/fixed convergence time, that is robust to perturbations with unknown bounds. It is shown that a second-order sliding mode is established as exact finite-time convergence to the origin if the adaptive gain does not have the ability to get reduced and converge to a small vicinity of the origin if the adaptation algorithm does not overestimate the control gain. The estimate of fixed convergence time of the studied adaptive STW-like controller is derived based on the Lyapunov analysis. The efficacy of the proposed adaptive algorithm is illustrated in a tutorial example, where the adaptive STW-like controller with uniform finite/fixed convergence time is compared to the adaptive STW controller with non-uniform finite convergence time.

  16. Position synchronised control of multiple robotic manipulators based on integral sliding mode

    NASA Astrophysics Data System (ADS)

    Zhao, Dongya; Zhu, Quanmin

    2014-03-01

    In this study, a new position synchronised control algorithm is developed for multiple robotic manipulator systems. In the merit of system synchronisation and integral sliding mode control, the proposed approach can stabilise position tracking of each robotic manipulator while coordinating its motion with the other manipulators. With the integral sliding mode, the proposed approach has insensitiveness against the lumped system uncertainty within the entire process of operation. Further, a perturbation estimator is proposed to reduce chattering effect. The corresponding stability analysis is presented to lay a foundation for theoretical understanding to the underlying issues as well as safely operating real systems. An illustrative example is bench tested to validate the effectiveness of the proposed approach.

  17. High-order sliding mode control for sensorless trajectory tracking of a PMSM

    NASA Astrophysics Data System (ADS)

    Delpoux, R.; Floquet, T.

    2014-10-01

    The paper presents a new sensorless approach for permanent magnet synchronous motor. Current sensors are assumed available, but position and velocity sensors are not. Based on the electrical equations, sliding mode observers are designed to estimate the back-electro motive force (EMF) of the motor. These estimations are used to reconstruct the position and the velocity. From this estimation, a robust sliding mode control is developed which ensures the position tracking of the motor. A new reference frame is used that presents advantages similar to the standard (d - q) frame, but without the need for a position sensor. The efficiency of the algorithm is shown through experimental results. The approach is potentially applicable to other types of synchronous motors as well.

  18. Smooth sliding mode control with a disturbance observer for a virtual axis parallel mechanism

    NASA Astrophysics Data System (ADS)

    Jiang, Daogen; Wang, Zhenhua; Wang, Zhenqi; Zhang, Xiaotong

    2013-10-01

    The control charactics of the virtual axis parallel mechanism is nonlinear and strong coupling as well as uncertainty. To achieve the goal of decoupling and inhibition of various uncertaities, this paper proposes the algorithm of smooth sliding mode control with a disturbance observer.In order to decline the inherent trembling of the sliding mode control, the paper uses the nonlinear power function such as fal(s,α , δ) in the approaching law decision. Also it uses the PVT interpolation strategy in the joint-space trajectory planning to ensure the stability of the mechanism movement, which is based on the mechnical kinematics models. Simulation of the trajectory tracing shows that the algorithm can improve the robust performance of the parameter perturbation and certain interferance, which achives the aim of the accurate steady-state performance and the good dynamic tracing performance.

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

    SciTech Connect

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

    1996-03-01

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

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

    PubMed

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

    2015-09-01

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

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

    PubMed

    Kessal, Abdelhalim; Rahmani, Lazhar

    2013-09-01

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

  2. Sliding mode control with self-tuning law for uncertain nonlinear systems.

    PubMed

    Kuo, Tzu-Chun; Huang, Ying-Jeh; Chang, Shin-Hung

    2008-04-01

    A robust sliding mode control that follows a self-tuning law for nonlinear systems possessing uncertain parameters is proposed. The adjustable control gain and a bipolar sigmoid function are on-line tuned to force the tracking error to approach zero. Control system stability is ensured using the Lyapunov method. Both simulation and experimental application of a planetary gear type inverted pendulum control system verify the effectiveness of the developed approach.

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

    PubMed

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

    2015-05-11

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

  4. Singularity-free integral-augmented sliding mode control for combined energy and attitude control system

    NASA Astrophysics Data System (ADS)

    Eshghi, Samira; Varatharajoo, Renuganth

    2017-01-01

    A combined energy and attitude control system (CEACS) is a synergized system in which flywheels are used as attitude control actuators and simultaneously as a power storage system. This paper, a subsequent to previous research on CEACS, addresses the attitude-tracking problem. Integral Augmented Sliding Mode Control with Boundary-Layer (IASMC-BL), a locally asymptotically stable controller, is developed to provide a robust and accurate solution for the CEACS's attitude-tracking problem. The controller alleviates the chattering phenomenon associated with the sliding mode using a boundary-layer technique. Simultaneously, it reduces the steady-state error using an integral action. This paper highlights the uncertainty of inertia matrix as a contributing factor to singularity problem. The inversion of the uncertain inertia matrix in simulation of a spacecraft dynamics is also identified as a leading factor to a singular situation. Therefore, an avoidance strategy is proposed in this paper to guarantee a singular-free dynamics behavior in faces of the uncertainties. This maiden work attempts to employ the singularity-free Integral Augmented Sliding Mode Control with Boundary-Layer (IASMC-BL) to provide a robust, accurate and nonsingular attitude-tracking solution for CEACS.

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

    PubMed Central

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

    2015-01-01

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

  6. Sliding mode disturbance observer-based adaptive integral backstepping control of a piezoelectric nano-manipulator

    NASA Astrophysics Data System (ADS)

    Zhang, Yangming; Yan, Peng

    2016-12-01

    This paper investigates a systematic modeling and control methodology for a multi-axis PZT (piezoelectric transducer) actuated servo stage supporting nano-manipulations. A sliding mode disturbance observer-based adaptive integral backstepping control method with an estimated inverse model compensation scheme is proposed to achieve ultra high precision tracking in the presence of the hysteresis nonlinearities, model uncertainties, and external disturbances. By introducing a time rate of the input signal, an enhanced rate-dependent Prandtl-Ishlinskii model is developed to describe the hysteresis behaviors, and its inverse is also constructed to mitigate their adverse effects. In particular, the corresponding inverse compensation error is analyzed and its boundedness is proven. Subsequently, the sliding mode disturbance observer-based adaptive integral backstepping controller is designed to guarantee the convergence of the tracking error, where the sliding mode disturbance observer can track the total disturbances in a finite time, while the integral action is incorporated into the adaptive backstepping design to improve the steady-state control accuracy. Finally, real time implementations of the proposed algorithm are applied on the PZT actuated servo system, where excellent tracking performance with tracking precision error around 6‰ for circular contour tracking is achieved in the experimental results.

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

    PubMed

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

    2009-06-01

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

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

    NASA Astrophysics Data System (ADS)

    Mallory, Nicolas Joseph

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

  9. Finite-time synchronization for second-order nonlinear multi-agent system via pinning exponent sliding mode control.

    PubMed

    Hou, Huazhou; Zhang, Qingling

    2016-11-01

    In this paper we investigate the finite-time synchronization for second-order multi-agent system via pinning exponent sliding mode control. Firstly, for the nonlinear multi-agent system, differential mean value theorem is employed to transfer the nonlinear system into linear system, then, by pinning only one node in the system with novel exponent sliding mode control, we can achieve synchronization in finite time. Secondly, considering the 3-DOF helicopter system with nonlinear dynamics and disturbances, the novel exponent sliding mode control protocol is applied to only one node to achieve the synchronization. Finally, the simulation results show the effectiveness and the advantages of the proposed method.

  10. Sliding mode control for a class of nonlinear discrete-time networked systems with multiple stochastic communication delays

    NASA Astrophysics Data System (ADS)

    Ma, Lifeng; Wang, Zidong; Niu, Yugang; Bo, Yumimg; Guo, Zhi

    2011-04-01

    In this article, a sliding mode control problem is studied for a class of uncertain nonlinear networked systems with multiple communication delays. A sequence of stochastic variables obeying Bernoulli distribution is applied in the system model to describe the randomly occurring communication delays. The discrete-time system considered is also subject to parameter uncertainties and state-dependent stochastic disturbances. A novel discrete switching function is proposed to facilitate the sliding mode controller design. The sufficient conditions are derived by means of the linear matrix inequality (LMI) approach. It is shown that the system dynamics in the specified sliding surface is robustly exponentially stable in the mean square if two LMIs with an equality constraint are feasible. A discrete-time SMC controller is designed that is capable of guaranteeing the discrete-time sliding-mode reaching condition of the specified sliding surface. Finally, a simulation example is given to show the effectiveness of the proposed method.

  11. Sliding-mode control of single input multiple output DC-DC converter

    NASA Astrophysics Data System (ADS)

    Zhang, Libo; Sun, Yihan; Luo, Tiejian; Wan, Qiyang

    2016-10-01

    Various voltage levels are required in the vehicle mounted power system. A conventional solution is to utilize an independent multiple output DC-DC converter whose cost is high and control scheme is complicated. In this paper, we design a novel SIMO DC-DC converter with sliding mode controller. The proposed converter can boost the voltage of a low-voltage input power source to a controllable high-voltage DC bus and middle-voltage output terminals, which endow the converter with characteristics of simple structure, low cost, and convenient control. In addition, the sliding mode control (SMC) technique applied in our converter can enhance the performances of a certain SIMO DC-DC converter topology. The high-voltage DC bus can be regarded as the main power source to the high-voltage facility of the vehicle mounted power system, and the middle-voltage output terminals can supply power to the low-voltage equipment on an automobile. In the respect of control algorithm, it is the first time to propose the SMC-PID (Proportion Integration Differentiation) control algorithm, in which the SMC algorithm is utilized and the PID control is attended to the conventional SMC algorithm. The PID control increases the dynamic ability of the SMC algorithm by establishing the corresponding SMC surface and introducing the attached integral of voltage error, which endow the sliding-control system with excellent dynamic performance. At last, we established the MATLAB/SIMULINK simulation model, tested performance of the system, and built the hardware prototype based on Digital Signal Processor (DSP). Results show that the sliding mode control is able to track a required trajectory, which has robustness against the uncertainties and disturbances.

  12. Sliding-mode control of single input multiple output DC-DC converter.

    PubMed

    Zhang, Libo; Sun, Yihan; Luo, Tiejian; Wan, Qiyang

    2016-10-01

    Various voltage levels are required in the vehicle mounted power system. A conventional solution is to utilize an independent multiple output DC-DC converter whose cost is high and control scheme is complicated. In this paper, we design a novel SIMO DC-DC converter with sliding mode controller. The proposed converter can boost the voltage of a low-voltage input power source to a controllable high-voltage DC bus and middle-voltage output terminals, which endow the converter with characteristics of simple structure, low cost, and convenient control. In addition, the sliding mode control (SMC) technique applied in our converter can enhance the performances of a certain SIMO DC-DC converter topology. The high-voltage DC bus can be regarded as the main power source to the high-voltage facility of the vehicle mounted power system, and the middle-voltage output terminals can supply power to the low-voltage equipment on an automobile. In the respect of control algorithm, it is the first time to propose the SMC-PID (Proportion Integration Differentiation) control algorithm, in which the SMC algorithm is utilized and the PID control is attended to the conventional SMC algorithm. The PID control increases the dynamic ability of the SMC algorithm by establishing the corresponding SMC surface and introducing the attached integral of voltage error, which endow the sliding-control system with excellent dynamic performance. At last, we established the MATLAB/SIMULINK simulation model, tested performance of the system, and built the hardware prototype based on Digital Signal Processor (DSP). Results show that the sliding mode control is able to track a required trajectory, which has robustness against the uncertainties and disturbances.

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

    PubMed

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

    2015-07-01

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

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

    NASA Technical Reports Server (NTRS)

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

    2002-01-01

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

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

    PubMed

    Torchani, Borhen; Sellami, Anis; Garcia, Germain

    2016-05-01

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

  16. Adaptive sliding mode control design for a class of uncertain singularly perturbed nonlinear systems

    NASA Astrophysics Data System (ADS)

    Lin, Kuo-Jung

    2014-02-01

    This paper addresses adaptive sliding mode control (ASMC) of uncertain singularly perturbed nonlinear (USPN) systems with guaranteed H∞ control performance. First, we use Takagi-Sugeno (T-S) fuzzy model to construct the USPN systems. Then, the sliding surface can be determined via linear matrix inequality (LMI) design procedure. Second, we propose neural network (NN)-based ASMC design to stabilise the USPN systems. The proposed methods are based on the Lyapunov stability theorem. The adaptive law can reduce the effect of uncertainty. The proposed NN-based ASMC will stabilise the USPN systems for all ɛ ∈ (0, ɛ*]. Simulation result reveals that the proposed NN-based ASMC scheme has better convergence time compared with the fuzzy control scheme (Li, T.-H.S., & Lin, K.J. (2004). Stabilization of singularly perturbed fuzzy systems, IEEE Transactions on Fuzzy Systems, 12, 579-595.).

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

    NASA Astrophysics Data System (ADS)

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

    2014-12-01

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

  18. Nonlinear H ∞ control of a Quadrotor (UAV), using high order sliding mode disturbance estimator

    NASA Astrophysics Data System (ADS)

    Kerma, Mokhtar; Mokhtari, Abdellah; Abdelaziz, Benallegue; Orlov, Yuri

    2012-12-01

    A nonlinear H ∞ output feedback controller is proposed and coupled to a high-order sliding mode estimator to regulate an UAV in the presence of the unmatched perturbations. The plant to be controlled is a Quadrotor helicopter described by nonlinear dynamics with plant uncertainties due to the variations of inertia moments and payload operation. A robust state estimation is considered under model uncertainties as well as external/measurement disturbances. Performance issues of the controller are illustrated in a simulation study made for an UAV prototype.

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

    NASA Astrophysics Data System (ADS)

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

    2016-06-01

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

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

    PubMed

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

    2015-09-01

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

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

    PubMed Central

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

    2016-01-01

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

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

    PubMed

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

    2016-01-01

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

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

    PubMed

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

    2011-08-01

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

  4. Unwinding forward and sliding back: an intermittent unwinding mode of the BLM helicase.

    PubMed

    Wang, Shuang; Qin, Wei; Li, Jing-Hua; Lu, Ying; Lu, Ke-Yu; Nong, Da-Guan; Dou, Shuo-Xing; Xu, Chun-Hua; Xi, Xu-Guang; Li, Ming

    2015-04-20

    There are lines of evidence that the Bloom syndrome helicase, BLM, catalyzes regression of stalled replication forks and disrupts displacement loops (D-loops) formed during homologous recombination (HR). Here we constructed a forked DNA with a 3' single-stranded gap and a 5' double-stranded handle to partly mimic a stalled DNA fork and used magnetic tweezers to study BLM-catalyzed unwinding of the forked DNA. We have directly observed that the BLM helicase may slide on the opposite strand for some distance after duplex unwinding at different forces. For DNA construct with a long hairpin, progressive unwinding of the hairpin is frequently interrupted by strand switching and backward sliding of the enzyme. Quantitative study of the uninterrupted unwinding length (time) has revealed a two-state-transition mechanism for strand-switching during the unwinding process. Mutational studies revealed that the RQC domain plays an important role in stabilizing the helicase/DNA interaction during both DNA unwinding and backward sliding of BLM. Especially, Lys1125 in the RQC domain, a highly conserved amino acid among RecQ helicases, may be involved in the backward sliding activity. We have also directly observed the in vitro pathway that BLM disrupts the mimic stalled replication fork. These results may shed new light on the mechanisms for BLM in DNA repair and homologous recombination.

  5. Unwinding forward and sliding back: an intermittent unwinding mode of the BLM helicase

    PubMed Central

    Wang, Shuang; Qin, Wei; Li, Jing-Hua; Lu, Ying; Lu, Ke-Yu; Nong, Da-Guan; Dou, Shuo-Xing; Xu, Chun-Hua; Xi, Xu-Guang; Li, Ming

    2015-01-01

    There are lines of evidence that the Bloom syndrome helicase, BLM, catalyzes regression of stalled replication forks and disrupts displacement loops (D-loops) formed during homologous recombination (HR). Here we constructed a forked DNA with a 3′ single-stranded gap and a 5′ double-stranded handle to partly mimic a stalled DNA fork and used magnetic tweezers to study BLM-catalyzed unwinding of the forked DNA. We have directly observed that the BLM helicase may slide on the opposite strand for some distance after duplex unwinding at different forces. For DNA construct with a long hairpin, progressive unwinding of the hairpin is frequently interrupted by strand switching and backward sliding of the enzyme. Quantitative study of the uninterrupted unwinding length (time) has revealed a two-state-transition mechanism for strand-switching during the unwinding process. Mutational studies revealed that the RQC domain plays an important role in stabilizing the helicase/DNA interaction during both DNA unwinding and backward sliding of BLM. Especially, Lys1125 in the RQC domain, a highly conserved amino acid among RecQ helicases, may be involved in the backward sliding activity. We have also directly observed the in vitro pathway that BLM disrupts the mimic stalled replication fork. These results may shed new light on the mechanisms for BLM in DNA repair and homologous recombination. PMID:25765643

  6. A new adjustable gains for second order sliding mode control of saturated DFIG-based wind turbine

    NASA Astrophysics Data System (ADS)

    Bounadja, E.; Djahbar, A.; Taleb, R.; Boudjema, Z.

    2017-02-01

    The control of Doubly-Fed induction generator (DFIG), used in wind energy conversion, has been given a great deal of interest. Frequently, this control has been dealt with ignoring the magnetic saturation effect in the DFIG model. The aim of the present work is twofold: firstly, the magnetic saturation effect is accounted in the control design model; secondly, a new second order sliding mode control scheme using adjustable-gains (AG-SOSMC) is proposed to control the DFIG via its rotor side converter. This scheme allows the independent control of the generated active and reactive power. Conventionally, the second order sliding mode control (SOSMC) applied to the DFIG, utilize the super-twisting algorithm with fixed gains. In the proposed AG-SOSMC, a simple means by which the controller can adjust its behavior is used. For that, a linear function is used to represent the variation in gain as a function of the absolute value of the discrepancy between the reference rotor current and its measured value. The transient DFIG speed response using the aforementioned characteristic is compared with the one determined by using the conventional SOSMC controller with fixed gains. Simulation results show, accurate dynamic performances, quicker transient response and more accurate control are achieved for different operating conditions.

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

    NASA Astrophysics Data System (ADS)

    Safa, Khari; Zahra, Rahmani; Behrooz, Rezaie

    2016-05-01

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

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

    PubMed

    Chang, Xiaodong; Huang, Jinquan; Lu, Feng

    2017-04-11

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

  9. A sliding mode-based starling-like controller for implantable rotary blood pumps.

    PubMed

    Bakouri, Mohsen A; Salamonsen, Robert F; Savkin, Andrey V; AlOmari, Abdul-Hakeem H; Lim, Einly; Lovell, Nigel H

    2014-07-01

    Clinically adequate implementation of physiological control of a rotary left ventricular assist device requires a sophisticated technique such as the recently proposed method based on the Frank-Starling mechanism. In this mechanism, the stroke volume of the heart increases in response to an increase in the volume of blood filling the left ventricle at the end of diastole. To emulate this process, changes in pump speed need to automatically regulate pump flow to ensure that the combined output of the left ventricle and pump match the output of the right ventricle across changing cardiovascular states. In this approach, we exploit the linear relationship between estimated mean pump flow (Q ̅ est) and pump flow pulsatility (PIQp) in a tracking control algorithm based on sliding mode control. The immediate response of the controller was assessed using a lumped parameter model of the cardiovascular system (CVS) and pump from which could be extracted both Q ̅ est and PIQp. Two different perturbations from the resting state in the presence of left ventricular failure were tested. The first was blood loss requiring a reduction in pump flow to match the reduced output from the right ventricle and to avoid the complication of ventricular suction. The second was exercise, requiring an increase in pump flow. The sliding mode controller induced the required changes in Qp within approximately five heart beats in the blood loss simulation and eight heart beats in the exercise simulation without clinically significant transients or steady-state errors.

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

    NASA Astrophysics Data System (ADS)

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

    2013-10-01

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

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

    NASA Astrophysics Data System (ADS)

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

    2014-07-01

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

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

    PubMed Central

    Chen, Jiawang; Gu, Linyi

    2014-01-01

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

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

    NASA Astrophysics Data System (ADS)

    Cao, Y.; Chen, X. B.

    2014-01-01

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

  14. Inverse optimal sliding mode control of spacecraft with coupled translation and attitude dynamics

    NASA Astrophysics Data System (ADS)

    Pukdeboon, Chutiphon

    2015-10-01

    This paper proposes two robust inverse optimal control schemes for spacecraft with coupled translation and attitude dynamics in the presence of external disturbances. For the first controller, an inverse optimal control law is designed based on Sontag-type formula and the control Lyapunov function. Then a robust inverse optimal position and attitude controller is designed by using a new second-order integral sliding mode control method to combine a sliding mode control with the derived inverse optimal control. The global asymptotic stability of the proposed control law is proved by using the second method of Lyapunov. For the other control law, a nonlinear H∞ inverse optimal controller for spacecraft position and attitude tracking motion is developed to achieve the design conditions of controller gains that the control law becomes suboptimal H∞ state feedback control. The ultimate boundedness of system state is proved by using the Lyapunov stability theory. Both developed robust inverse optimal controllers can minimise a performance index and ensure the stability of the closed-loop system and external disturbance attenuation. An example of position and attitude tracking manoeuvres is presented and simulation results are included to show the performance of the proposed controllers.

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

    PubMed

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

    2016-03-01

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

  16. Dynamic boundary layer based neural network quasi-sliding mode control for soft touching down on asteroid

    NASA Astrophysics Data System (ADS)

    Liu, Xiaosong; Shan, Zebiao; Li, Yuanchun

    2017-04-01

    Pinpoint landing is a critical step in some asteroid exploring missions. This paper is concerned with the descent trajectory control for soft touching down on a small irregularly-shaped asteroid. A dynamic boundary layer based neural network quasi-sliding mode control law is proposed to track a desired descending path. The asteroid's gravitational acceleration acting on the spacecraft is described by the polyhedron method. Considering the presence of input constraint and unmodeled acceleration, the dynamic equation of relative motion is presented first. The desired descending path is planned using cubic polynomial method, and a collision detection algorithm is designed. To perform trajectory tracking, a neural network sliding mode control law is given first, where the sliding mode control is used to ensure the convergence of system states. Two radial basis function neural networks (RBFNNs) are respectively used as an approximator for the unmodeled term and a compensator for the difference between the actual control input with magnitude constraint and nominal control. To improve the chattering induced by the traditional sliding mode control and guarantee the reachability of the system, a specific saturation function with dynamic boundary layer is proposed to replace the sign function in the preceding control law. Through the Lyapunov approach, the reachability condition of the control system is given. The improved control law can guarantee the system state move within a gradually shrinking quasi-sliding mode band. Numerical simulation results demonstrate the effectiveness of the proposed control strategy.

  17. On the synthesis of sliding mode controller for the autopilot design of free flight system

    NASA Astrophysics Data System (ADS)

    Devika K., B.; Thomas, Susy

    2017-01-01

    Today's rapid growth in air transportation demand leads to the problem of congestion in air traffic routes. In recent years, free flight concept is widely discussed as the solution to this problem. Free flight is a decentralized method of air traffic management, in which each aircraft has the freedom to self optimize its own route. Conflict detection and its subsequent resolution are the major challenges in the realization of this concept. Today's modern navigation and surveillance equipment can ensure accurate conflict predictions. Once a conflict is detected, it should be avoided through suitable conflict avoidance maneuvers. An autopilot capable of initiating these conflict free maneuvers should be a necessary part of any aircraft in free flight to ensure conflict avoided flight. Controller design based on Sliding Mode Control (SMC) strategy is presented in this paper for the purpose of free flight autopilot implementation. Since SMC has the inherent property of robustness in sliding mode, it can ensure a highly efficient autopilot design. Conventional and reaching law approaches of SMC design are considered here for controller design. Conventional SMC technique usually exhibits an unacceptable phenomenon, viz., chattering. Reaching law approaches for SMC design are being investigated here so as to identify an appropriate strategy that can ensure near chattering free operation. Considering typical free flight conflict avoidance modes of operation, the performance of all the considered SMC strategies are compared through simulation studies. The comparison is based on their ability to reduce chattering and the effectiveness in ensuring quick conflict resolution maneuvers, so that an efficient controller for free flight autopilot system can be recommended.

  18. Fractional order sliding-mode control based on parameters auto-tuning for velocity control of permanent magnet synchronous motor.

    PubMed

    Zhang, BiTao; Pi, YouGuo; Luo, Ying

    2012-09-01

    A fractional order sliding mode control (FROSMC) scheme based on parameters auto-tuning for the velocity control of permanent magnet synchronous motor (PMSM) is proposed in this paper. The control law of the proposed F(R)OSMC scheme is designed according to Lyapunov stability theorem. Based on the property of transferring energy with adjustable type in F(R)OSMC, this paper analyzes the chattering phenomenon in classic sliding mode control (SMC) is attenuated with F(R)OSMC system. A fuzzy logic inference scheme (FLIS) is utilized to obtain the gain of switching control. Simulations and experiments demonstrate that the proposed FROSMC not only achieve better control performance with smaller chatting than that with integer order sliding mode control, but also is robust to external load disturbance and parameter variations.

  19. Design of a chatter-free terminal sliding mode controller for nonlinear fractional-order dynamical systems

    NASA Astrophysics Data System (ADS)

    Pourmahmood Aghababa, Mohammad

    2013-10-01

    This paper investigates the problem of robust control of nonlinear fractional-order dynamical systems in the presence of uncertainties. First, a novel switching surface is proposed and its finite-time stability to the origin is proved. Subsequently, using the sliding mode theory, a robust fractional control law is proposed to ensure the existence of the sliding motion in finite time. We use a fractional Lyapunov stability theory to prove the stability of the system in a given finite time. In order to avoid the chattering, which is inherent in conventional sliding mode controllers, we transfer the sign function of the control input into the fractional derivative of the control signal. The proposed chattering-free sliding mode technique is then applied for stabilisation of a broad class of three-dimensional fractional-order chaotic systems via a single variable driving control input. Simulation results reveal that the proposed fractional sliding mode controller works well for chaos control of fractional-order hyperchaotic Chen, chaotic Lorenz and chaotic Arneodo systems with no-chatter control inputs.

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

    NASA Astrophysics Data System (ADS)

    Sumantri, Bambang; Uchiyama, Naoki; Sano, Shigenori

    2016-01-01

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

  1. Design and implementation of a novel sliding mode sensing architecture for capacitive MEMS accelerometers

    NASA Astrophysics Data System (ADS)

    Sarraf, E. H.; Cousins, B.; Cretu, E.; Mirabbasi, S.

    2011-11-01

    We propose novel feedback control and sensing schemes based on sliding mode control (SMC) for closed-loop micro-accelerometers as alternative digital control architectures to sigma-delta (ΣΔ) approaches. The under-damped micro-device has been designed in Coventorware, fabricated in SOIMUMPs (25 µm thick structural layer) technology and experimentally characterized using a Polytec MSA-500 (micro-system analyzer) equipment. To verify the system architecture robustness, the application of SMC is extended to an over-damped accelerometer model. In either case, the SMC demonstrates the repositioning of the proof mass to null position; however, the over-damped model exhibits shorter transition time (15 ms for 1g acceleration) due to the increased damping. In addition to that, we extend the usage of SMC beyond the classical actuation problem to a novel sensing problem where we demonstrate the extraction of the external acceleration measurement from the switching behavior along the sliding surface. An optimized fixed-point implementation is targeted on a field-programmable gate array (FPGA) using rapid prototyping methodology, where the new proposed method has been compared for reference with a control scheme that employs a ΣΔ modulator. The SMC-based architecture is advantageous in terms of hardware complexity, and the control of the number of degrees of freedom required by an inertial measurement unit can be accommodated on a low-cost FPGA device. SMC offers a sound theoretical framework for the nonlinear control of inertial sensors.

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

    NASA Technical Reports Server (NTRS)

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

    2002-01-01

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

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

    PubMed

    Xingling, Shao; Honglun, Wang

    2014-11-01

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

  4. Posture and Vibration Control Based on Virtual Suspension Model Using Sliding Mode Control for Six-Legged Walking Robot

    NASA Astrophysics Data System (ADS)

    Huang, Qingjiu; Fukuhara, Yasuyuki; Chen, Xuedong

    In this paper, we proposed a robust control method based on the virtual suspension model for keeping the posture stability and decreasing the tiny vibration of the robot body when it is walking on irregular terrain. Firstly, we developed a six-legged walking robot for this study based on stable theory of wave gaits and CAD dynamic model. Secondly, in order to keep the posture stability of body when robot walks, we designed a virtual suspension model with one degree of freedom, which has virtual spring and damper, for the direction of the center of gravity, the pitch angle, and the roll angle of body respectively. And then, in order to decrease the tiny vibration of body when robot walks, we proposed an active suspension control by using sliding mode control based on a virtual suspension model. These proposed methods are discussed using the walking experimental results of the developed six-legged walking robot.

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

    NASA Astrophysics Data System (ADS)

    Meo, Santolo; Sorrentino, Vincenzo

    2015-03-01

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

  6. Sliding mode coordination control for multiagent systems with underactuated agent dynamics

    NASA Astrophysics Data System (ADS)

    Ghasemi, Masood; Nersesov, Sergey G.; Clayton, Garrett; Ashrafiuon, Hashem

    2014-12-01

    In this paper, we develop a new integrated coordinated control and obstacle avoidance approach for a general class of underactuated agents. We use graph-theoretic notions to characterise communication topology in the network of underactuated agents as determined by the information flow directions and captured by the graph Laplacian matrix. Obstacle avoidance is achieved by surrounding the stationary as well as moving obstacles by elliptical or other convex shapes that serve as stable periodic solutions to planar systems of ordinary differential equations and using transient trajectories of those systems to navigate the agents around the obstacles. Decentralised controllers for individual agents are designed using sliding mode control approach and are only based on data communicated from the neighbouring agents. We demonstrate the efficacy of our theoretical approach using an example of a system of wheeled mobile robots that reach and maintain a desired formation. Finally, we validate our results experimentally.

  7. Global fast dynamic terminal sliding mode control for a quadrotor UAV.

    PubMed

    Xiong, Jing-Jing; Zhang, Guo-Bao

    2017-01-01

    A control method based on global fast dynamic terminal sliding mode control (TSMC) technique is proposed to design the flight controller for performing the finite-time position and attitude tracking control of a small quadrotor UAV. Firstly, the dynamic model of the quadrotor is divided into two subsystems, i.e., a fully actuated subsystem and an underactuated subsystem. Secondly, the dynamic flight controllers of the quadrotor are formulated based on global fast dynamic TSMC, which is able to guarantee that the position and velocity tracking errors of all system state variables converge to zero in finite-time. Moreover, the global fast dynamic TSMC is also able to eliminate the chattering phenomenon caused by the switching control action and realize the high precision performance. In addition, the stabilities of two subsystems are demonstrated by Lyapunov theory, respectively. Lastly, the simulation results are given to illustrate the effectiveness and robustness of the proposed control method in the presence of external disturbances.

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

    PubMed

    Zeghlache, Samir; Kara, Kamel; Saigaa, Djamel

    2015-11-01

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

  9. State of charge estimation of lithium-ion batteries using fractional order sliding mode observer.

    PubMed

    Zhong, Qishui; Zhong, Fuli; Cheng, Jun; Li, Hui; Zhong, Shouming

    2017-01-01

    This paper presents a state of charge (SOC) estimation method based on fractional order sliding mode observer (SMO) for lithium-ion batteries. A fractional order RC equivalent circuit model (FORCECM) is firstly constructed to describe the charging and discharging dynamic characteristics of the battery. Then, based on the differential equations of the FORCECM, fractional order SMOs for SOC, polarization voltage and terminal voltage estimation are designed. After that, convergence of the proposed observers is analyzed by Lyapunov's stability theory method. The framework of the designed observer system is simple and easy to implement. The SMOs can overcome the uncertainties of parameters, modeling and measurement errors, and present good robustness. Simulation results show that the presented estimation method is effective, and the designed observers have good performance.

  10. Higher order sliding mode control of laser pointing for orbital debris mitigation

    NASA Astrophysics Data System (ADS)

    Palosz, Arthur

    This thesis explores the use of a space-based laser to clean up small orbital debris from near Earth space. This system's challenge is to quickly and precisely aim the laser beam at very small (<1cm) and distant (<10km) moving orbital debris in the presence of parametric uncertainties and external disturbances. A mathematical model is derived for the debris position sensors, a Fast Steering Mirror (FSM), and a telescope which are used to track the orbital debris and then point and focus the laser beam onto the orbital debris. A Kalman Filter (KF) is designed to accurately track the orbital debris and generate a command signal for the controller. A second order Super Twisting Sliding Mode Controller (2-SMC) is designed to follow the command signal generated by the KF and to overcome the parametric uncertainties and external disturbances. The performance of the system is validated with a computer simulation created in MATLAB and Simulink.

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

    PubMed

    Song, Zhankui; Sun, Kaibiao; Ling, Shuai

    2017-03-06

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

  12. Designing a robust minimum variance controller using discrete slide mode controller approach.

    PubMed

    Alipouri, Yousef; Poshtan, Javad

    2013-03-01

    Designing minimum variance controllers (MVC) for nonlinear systems is confronted with many difficulties. The methods able to identify MIMO nonlinear systems are scarce. Harsh control signals produced by MVC are among other disadvantages of this controller. Besides, MVC is not a robust controller. In this article, the Vector ARX (VARX) model is used for simultaneously modeling the system and disturbance in order to tackle these disadvantages. For ensuring the robustness of the control loop, the discrete slide mode controller design approach is used in designing MVC and generalized MVC (GMVC). The proposed method for controller design is tested on a nonlinear experimental Four-Tank benchmark process and is compared with nonlinear MVCs designed by neural networks. In spite of the simplicity of designing GMVCs for the VARX models with uncertainty, the results show that the proposed method is accurate and implementable.

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

    NASA Astrophysics Data System (ADS)

    Min, Fuhong; Wang, Yaoda; Peng, Guangya; Wang, Enrong; Auth, Jane A.

    2016-08-01

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

  14. A Global Sliding-Mode Control Scheme with Adjustable Robustness for A Linear Variable Reluctance Motor

    NASA Astrophysics Data System (ADS)

    Lin, Jin-Yuan; Lu, Yu-Sheng; Chen, Jian-Shiang

    A novel global sliding-mode control (GSMC) scheme with adjustable robustness is presented in this article. The proposed scheme offers a switching function together with unperturbed system dynamics to weigh the contribution from SMC such that all of the closed-loop poles can be located within predefined regions to provide design flexibility, and the robustness of system can thus be adjusted. By this scheme, the maximal control effort and chattering level can be reduced according to designer's specifications directly. Since the switching function can initially be made to equal to zero, the adjustable performance during the entire response can be guaranteed, and the reaching condition is thus lifted. The efficacy of this scheme is demonstrated via successful implementation on a linear variable reluctance motor (LVRM) servo system. Both simulation and experimental studies further demonstrate its feasibility and effectiveness.

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

    NASA Astrophysics Data System (ADS)

    Chen, Yuhang; Ji, Yunfeng; Guo, Konghui

    2014-12-01

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

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

    PubMed

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

    2014-05-01

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

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

    NASA Astrophysics Data System (ADS)

    Zhou, Jiawang; Zhou, Zude; Ai, Qingsong

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

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

    NASA Astrophysics Data System (ADS)

    Zhang, Jinxiu; Zhang, Zhigang; Wu, Baolin

    2016-10-01

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

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

    PubMed

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

    2015-09-01

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

  20. Application of nonlinear sliding mode control to ultrasound contrast agent microbubbles.

    PubMed

    Carroll, James M; Lauderbaugh, Leal K; Calvisi, Michael L

    2013-07-01

    A sliding mode control system is developed and applied to a spherical model of a contrast agent microbubble that simulates its radial response to ultrasound. The model uses a compressible form of the Rayleigh-Plesset equation combined with a thin-shell model. A nonlinear control law for the second-order model is derived and used to design and simulate the controller. The effect of the controller on the contrast agent response is investigated for various control scenarios. This work demonstrates the feasibility of using a nonlinear control system to modulate the dynamic response of ultrasound contrast agents, but highlights the need for improved feedback mechanisms and control input methods. Possible applications of the nonlinear control system to contrast agents illustrated in this work include radius stabilization in the presence of an acoustic wave, radial growth and subsequent collapse, and generation of periodic radial oscillations while a contrast agent is within an acoustic forcing regime known to cause a chaotic response.

  1. Distributed Adaptive Fuzzy Control for Nonlinear Multiagent Systems Via Sliding Mode Observers.

    PubMed

    Shen, Qikun; Shi, Peng; Shi, Yan

    2016-12-01

    In this paper, the problem of distributed adaptive fuzzy control is investigated for high-order uncertain nonlinear multiagent systems on directed graph with a fixed topology. It is assumed that only the outputs of each follower and its neighbors are available in the design of its distributed controllers. Equivalent output injection sliding mode observers are proposed for each follower to estimate the states of itself and its neighbors, and an observer-based distributed adaptive controller is designed for each follower to guarantee that it asymptotically synchronizes to a leader with tracking errors being semi-globally uniform ultimate bounded, in which fuzzy logic systems are utilized to approximate unknown functions. Based on algebraic graph theory and Lyapunov function approach, using Filippov-framework, the closed-loop system stability analysis is conducted. Finally, numerical simulations are provided to illustrate the effectiveness and potential of the developed design techniques.

  2. Equivalent Neural Network Optimal Coefficients Using Forgetting Factor with Sliding Modes

    PubMed Central

    2016-01-01

    The Artificial Neural Network (ANN) concept is familiar in methods whose task is, for example, the identification or approximation of the outputs of complex systems difficult to model. In general, the objective is to determine online the adequate parameters to reach a better point-to-point convergence rate, so that this paper presents the parameter estimation for an equivalent ANN (EANN), obtaining a recursive identification for a stochastic system, firstly, with constant parameters and, secondly, with nonstationary output system conditions. Therefore, in the last estimation, the parameters also have stochastic properties, making the traditional approximation methods not adequate due to their losing of convergence rate. In order to give a solution to this problematic, we propose a nonconstant exponential forgetting factor (NCEFF) with sliding modes, obtaining in almost all points an exponential convergence rate decreasing. Theoretical results of both identification stages are performed using MATLAB® and compared, observing improvement when the new proposal for nonstationary output conditions is applied. PMID:28058045

  3. Equivalent Neural Network Optimal Coefficients Using Forgetting Factor with Sliding Modes.

    PubMed

    Aguilar Cruz, Karen Alicia; Medel Juárez, José de Jesús; Urbieta Parrazales, Romeo

    2016-01-01

    The Artificial Neural Network (ANN) concept is familiar in methods whose task is, for example, the identification or approximation of the outputs of complex systems difficult to model. In general, the objective is to determine online the adequate parameters to reach a better point-to-point convergence rate, so that this paper presents the parameter estimation for an equivalent ANN (EANN), obtaining a recursive identification for a stochastic system, firstly, with constant parameters and, secondly, with nonstationary output system conditions. Therefore, in the last estimation, the parameters also have stochastic properties, making the traditional approximation methods not adequate due to their losing of convergence rate. In order to give a solution to this problematic, we propose a nonconstant exponential forgetting factor (NCEFF) with sliding modes, obtaining in almost all points an exponential convergence rate decreasing. Theoretical results of both identification stages are performed using MATLAB® and compared, observing improvement when the new proposal for nonstationary output conditions is applied.

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

    PubMed

    Wang, Xingliang; Zhang, Youan; Wu, Huali

    2016-03-01

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

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

    NASA Astrophysics Data System (ADS)

    Keum, Jung-Hoon; Ra, Sung-Woong

    2009-12-01

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

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

    PubMed

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

    2014-03-01

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

  7. Wiener sliding-mode control for artificial pancreas: a new nonlinear approach to glucose regulation.

    PubMed

    Abu-Rmileh, Amjad; Garcia-Gabin, Winston

    2012-08-01

    Type 1 diabetic patients need insulin therapy to keep their blood glucose close to normal. In this paper an attempt is made to show how nonlinear control-oriented model may be used to improve the performance of closed-loop control of blood glucose in diabetic patients. The nonlinear Wiener model is used as a novel modeling approach to be applied to the glucose control problem. The identified Wiener model is used in the design of a robust nonlinear sliding mode control strategy. Two configurations of the nonlinear controller are tested and compared to a controller designed with a linear model. The controllers are designed in a Smith predictor structure to reduce the effect of system time delay. To improve the meal compensation features, the controllers are provided with a simple feedforward controller to inject an insulin bolus at meal time. Different simulation scenarios have been used to evaluate the proposed controllers. The obtained results show that the new approach outperforms the linear control scheme, and regulates the glucose level within safe limits in the presence of measurement and modeling errors, meal uncertainty and patient variations.

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

    SciTech Connect

    Dr. Anatoly Shteynberg, PhD

    2006-08-17

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

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

    PubMed

    Li, Lebao; Sun, Lingling; Zhang, Shengzhou

    2016-05-01

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

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

    NASA Astrophysics Data System (ADS)

    Min, Guoqi; Duan, Shukai; Wang, Lidan

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

  11. 6-DOF robust adaptive terminal sliding mode control for spacecraft formation flying

    NASA Astrophysics Data System (ADS)

    Wang, Jianying; Sun, Zhaowei

    2012-04-01

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

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

    NASA Astrophysics Data System (ADS)

    Ignaciuk, Przemysław; Bartoszewicz, Andrzej

    2012-01-01

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

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

    PubMed

    Pashaei, Shabnam; Badamchizadeh, Mohammadali

    2016-07-01

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

  14. Microtubule-sliding activity of a kinesin-8 promotes spindle assembly and spindle-length control.

    PubMed

    Su, Xiaolei; Arellano-Santoyo, Hugo; Portran, Didier; Gaillard, Jeremie; Vantard, Marylin; Thery, Manuel; Pellman, David

    2013-08-01

    Molecular motors play critical roles in the formation of mitotic spindles, either through controlling the stability of individual microtubules, or by crosslinking and sliding microtubule arrays. Kinesin-8 motors are best known for their regulatory roles in controlling microtubule dynamics. They contain microtubule-destabilizing activities, and restrict spindle length in a wide variety of cell types and organisms. Here, we report an antiparallel microtubule-sliding activity of the budding yeast kinesin-8, Kip3. The in vivo importance of this sliding activity was established through the identification of complementary Kip3 mutants that separate the sliding activity and microtubule-destabilizing activity. In conjunction with Cin8, a kinesin-5 family member, the sliding activity of Kip3 promotes bipolar spindle assembly and the maintenance of genome stability. We propose a slide-disassemble model where the sliding and destabilizing activity of Kip3 balance during pre-anaphase. This facilitates normal spindle assembly. However, the destabilizing activity of Kip3 dominates in late anaphase, inhibiting spindle elongation and ultimately promoting spindle disassembly.

  15. Chaos suppression of Fractional order Willamowski-Rössler Chemical system and its synchronization using Sliding Mode Control

    NASA Astrophysics Data System (ADS)

    Rajagopal, Karthikeyan; Karthikeyan, Anitha

    2016-09-01

    Most of the Real systems shows chaotic behavior when they approach complex states. Especially in physical and chemical systems these behaviors define the character of the system. The control of these chaotic behaviors is of very high practical importance and hence mathematical models of these chaotic systems proves vital in deciding the control structures. One such model of chemical reactors is the Willamowski-Rössler system (WR). In this paper we derive a fractional order sliding mode control scheme where the states of the WR system are driven back to the defined equilibrium points. We have also synchronized master and slave fractional order WR system using sliding mode control. As the entire control law is defined in fractional order, we derived a new methodology to prove the stability of the controller. The numerical simulation and analysis are achieved with LabVIEW.

  16. A frequency independent approximation and a sliding mode control scheme for a system of a micro-cantilever beam.

    PubMed

    Vagia, Marialena

    2012-03-01

    In the present article, a sliding mode controller is proposed for a micro-cantilever beam (μCB) with fringing and squeezed film damping effects. The narrow micro-cantilever beam can move via the application of an external electrically induced force. The introduction of the squeezed film parameters results in a frequency-dependent nonlinear system. Particular attention, has been paid, in order to approximate the frequency dependent μCB model, with a valid, frequency independent one, that would be incorporated in the design of a robust sliding mode controller. The suggested control technique enables compact realization of a robust controller tolerant in device characteristics' variations, nonlinearities and types of inherent instabilities. Robustness of the proposed control scheme against disturbances is proved by Lyapunov's second method. In addition, bifurcation analysis is carried on the beam's nonlinear model, and numerous simulation test cases are presented in order to test the suggested modeling and control techniques.

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

    PubMed

    Ebrahimkhani, Sadegh

    2016-07-01

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

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

    PubMed

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

    2016-05-01

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

  19. Feedback attitude sliding mode regulation control of spacecraft using arm motion

    NASA Astrophysics Data System (ADS)

    Shi, Ye; Liang, Bin; Xu, Dong; Wang, Xueqian; Xu, Wenfu

    2013-09-01

    The problem of spacecraft attitude regulation based on the reaction of arm motion has attracted extensive attentions from both engineering and academic fields. Most of the solutions of the manipulator’s motion tracking problem just achieve asymptotical stabilization performance, so that these controllers cannot realize precise attitude regulation because of the existence of non-holonomic constraints. Thus, sliding mode control algorithms are adopted to stabilize the tracking error with zero transient process. Due to the switching effects of the variable structure controller, once the tracking error reaches the designed hyper-plane, it will be restricted to this plane permanently even with the existence of external disturbances. Thus, precise attitude regulation can be achieved. Furthermore, taking the non-zero initial tracking errors and chattering phenomenon into consideration, saturation functions are used to replace sign functions to smooth the control torques. The relations between the upper bounds of tracking errors and the controller parameters are derived to reveal physical characteristic of the controller. Mathematical models of free-floating space manipulator are established and simulations are conducted in the end. The results show that the spacecraft’s attitude can be regulated to the position as desired by using the proposed algorithm, the steady state error is 0.000 2 rad. In addition, the joint tracking trajectory is smooth, the joint tracking errors converges to zero quickly with a satisfactory continuous joint control input. The proposed research provides a feasible solution for spacecraft attitude regulation by using arm motion, and improves the precision of the spacecraft attitude regulation.

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

    PubMed

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

    2011-04-01

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

  1. Adaptive Hierarchical Sliding Mode Control with Input Saturation for Attitude Regulation of Multi-satellite Tethered System

    NASA Astrophysics Data System (ADS)

    Ma, Zhiqiang; Sun, Guanghui

    2016-11-01

    This paper proposes a novel adaptive hierarchical sliding mode control for the attitude regulation of the multi-satellite inline tethered system, where the input saturation is taken into account. The governing equations for the attitude dynamics of the three-satellite inline tethered system are derived firstly by utilizing Lagrangian mechanics theory. Considering the fact that the attitude of the central satellite can be adjusted by using the simple exponential stabilization scheme, the decoupling of the central satellite and the terminal ones is presented, and in addition, the new adaptive sliding mode control law is applied to stabilize the attitude dynamics of the two terminal satellites based on the synchronization and partial contraction theory. In the adaptive hierarchical sliding mode control design, the input is modeled as saturated input due to the fact that the flywheel torque is bounded, and meanwhile, an adaptive update rate is introduced to eliminate the effect of the saturated input and the external perturbation. The proposed control scheme can be applied on the two-satellite system to achieve fixed-point rotation. Numerical results validate the effectiveness of the proposed method.

  2. Fuzzy fast terminal sliding mode vibration control of a two-connected flexible plate using laser sensors

    NASA Astrophysics Data System (ADS)

    Qiu, Zhi-cheng; Zhang, Si-ma

    2016-10-01

    A kind of non-contact vibration measurement method for a two-connected flexible piezoelectric plate using laser sensors is proposed. Decoupling of the bending and torsional vibration on measurement and driving control is carried out via using two laser displacement sensors and piezoelectric actuators. The fuzzy fast terminal sliding mode controller (FFTSMC) is investigated to suppress both the larger and the smaller amplitude vibrations quickly. In order to alleviate the chattering phenomenon and enhance the control effect, the fuzzy logic adaptive algorithm is used to adjust the switching control gain for softening the signum function adaptively. To verify the non-contact measurement method and the designed controller, the experimental setup is built up. Experiments on active vibration control using the designed FFTSMC are conducted, compared with the classical proportional derivative (PD) control algorithm. The experimental identification results demonstrate that the laser displacement sensors can detect the low-frequency bending and torsional vibration effectively, after using the decoupling method. Furthermore, the designed FFTSMC can suppress both bending and torsional vibration more quickly than the designed PD controller owing to the adjustment of the switching control gains and the softening factors, especially for the small amplitude residual vibrations.

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

    NASA Astrophysics Data System (ADS)

    Hu, Qinglei

    2010-09-01

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

  4. A fault-tolerant attitude control system for a satellite based on fuzzy global sliding mode control algorithm

    NASA Astrophysics Data System (ADS)

    Liang, Jinjin; Dong, Chaoyang; Wang, Qing

    2008-10-01

    The structures and missions of modern satellites are very complicated, so the reliability of satellites is becoming increasingly important. This paper proposed a fault-tolerant attitude control system for a satellite based on Fuzzy Global Sliding Mode Control (FGSMC) algorithm. We designed a controller for the nonlinear model of a satellite. By designing a global sliding surface, this controller can ensure that the response of the system has global robustness against the uncertainties of system and external disturbances. In this paper attitude control is performed by four reaction flywheels. The attitude control system distributed the three control torques to the four reaction flywheels according to the distribution matrix. We deduced the formula to calculate the distribution matrix. Paper proved the stability of the designed control law, and simulated the attitude control system. The simulation results show that the attitude control law has high accuracy and robustness.

  5. Robust nonlinear generalised predictive control for a class of uncertain nonlinear systems via an integral sliding mode approach

    NASA Astrophysics Data System (ADS)

    Errouissi, Rachid; Yang, Jun; Chen, Wen-Hua; Al-Durra, Ahmed

    2016-08-01

    In this paper, a robust nonlinear generalised predictive control (GPC) method is proposed by combining an integral sliding mode approach. The composite controller can guarantee zero steady-state error for a class of uncertain nonlinear systems in the presence of both matched and unmatched disturbances. Indeed, it is well known that the traditional GPC based on Taylor series expansion cannot completely reject unknown disturbance and achieve offset-free tracking performance. To deal with this problem, the existing approaches are enhanced by avoiding the use of the disturbance observer and modifying the gain function of the nonlinear integral sliding surface. This modified strategy appears to be more capable of achieving both the disturbance rejection and the nominal prescribed specifications for matched disturbance. Simulation results demonstrate the effectiveness of the proposed approach.

  6. Tracking Control of a 2-DOF Arm Actuated by Pneumatic Muscle Actuators Using Adaptive Fuzzy Sliding Mode Control

    NASA Astrophysics Data System (ADS)

    Chang, Ming-Kun; Wu, Jui-Chi

    Pneumatic muscle actuators (PMAs) have the highest power/weight ratio and power/volume ratio of any actuator. Therefore, they can be used not only in the rehabilitation engineering, but also as an actuator in robots, including industrial robots and therapy robots. It is difficult to achieve excellent tracking performance using classical control methods because the compressibility of gas and the nonlinear elasticity of bladder container causes parameter variations. An adaptive fuzzy sliding mode control is developed in this study. The fuzzy sliding surface can be used to reduce fuzzy rule numbers, and the adaptive control law is used to modify fuzzy rules on-line. A model matching technique is then adopted to adjust scaling factors. The experimental results show that this control strategy can attain excellent tracking performance.

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

    PubMed Central

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

    2012-01-01

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

  8. Maximum power point tracking algorithm based on sliding mode and fuzzy logic for photovoltaic sources under variable environmental conditions

    NASA Astrophysics Data System (ADS)

    Atik, L.; Petit, P.; Sawicki, J. P.; Ternifi, Z. T.; Bachir, G.; Della, M.; Aillerie, M.

    2017-02-01

    Solar panels have a nonlinear voltage-current characteristic, with a distinct maximum power point (MPP), which depends on the environmental factors, such as temperature and irradiation. In order to continuously harvest maximum power from the solar panels, they have to operate at their MPP despite the inevitable changes in the environment. Various methods for maximum power point tracking (MPPT) were developed and finally implemented in solar power electronic controllers to increase the efficiency in the electricity production originate from renewables. In this paper we compare using Matlab tools Simulink, two different MPP tracking methods, which are, fuzzy logic control (FL) and sliding mode control (SMC), considering their efficiency in solar energy production.

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

    NASA Astrophysics Data System (ADS)

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

    2012-03-01

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

  10. Digital image analysis of flagellar beating and microtubule sliding of activated and hyperactivated sperm flagella.

    PubMed

    Ishijima, Sumio

    2007-01-01

    Flagellar beatings of Suncus, golden hamster, and monkey spermatozoa before and after hyperactivation were analysed using high-speed video microscopy and digital image processing in order to examine the sliding mechanism of the flagellar beating and the function of accessory fibres of the mammalian spermatozoa. Although these spermatozoa have different morphology and movement characteristics, the flagellar beatings of hyperactivated spermatozoa had a few common features; i.e., sharp bends at the base of the flagellum and a low beat frequency. While nonhyperactivated (activated) spermatozoa exhibited nearly constant-curvature beating, the hyperactivated spermatozoa displayed a constant-frequency beating. A detailed analysis of the microtubule sliding of the activated and hyperactivated sperm flagella revealed that the sharp bends at the base of the flagella were induced by an increase in the total length of the microtubule sliding at the base of the flagella and that the sliding velocity of the activated and hyperactivated sperm flagella was consistent within each species. A comparison of the sliding velocity of the flagellar beating of Suncus, golden hamster, and monkey spermatozoa with the moment of inertia of the cross section of the flagellar base suggests that the sliding velocity is involved in the hardness of a sperm flagellum.

  11. Design and experimental evaluation of a robust position controller for an electrohydrostatic actuator using adaptive antiwindup sliding mode scheme.

    PubMed

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

    2013-01-01

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

  12. Finite Time Fault Tolerant Control for Robot Manipulators Using Time Delay Estimation and Continuous Nonsingular Fast Terminal Sliding Mode Control.

    PubMed

    Van, Mien; Ge, Shuzhi Sam; Ren, Hongliang

    2016-04-28

    In this paper, a novel finite time fault tolerant control (FTC) is proposed for uncertain robot manipulators with actuator faults. First, a finite time passive FTC (PFTC) based on a robust nonsingular fast terminal sliding mode control (NFTSMC) is investigated. Be analyzed for addressing the disadvantages of the PFTC, an AFTC are then investigated by combining NFTSMC with a simple fault diagnosis scheme. In this scheme, an online fault estimation algorithm based on time delay estimation (TDE) is proposed to approximate actuator faults. The estimated fault information is used to detect, isolate, and accommodate the effect of the faults in the system. Then, a robust AFTC law is established by combining the obtained fault information and a robust NFTSMC. Finally, a high-order sliding mode (HOSM) control based on super-twisting algorithm is employed to eliminate the chattering. In comparison to the PFTC and other state-of-the-art approaches, the proposed AFTC scheme possess several advantages such as high precision, strong robustness, no singularity, less chattering, and fast finite-time convergence due to the combined NFTSMC and HOSM control, and requires no prior knowledge of the fault due to TDE-based fault estimation. Finally, simulation results are obtained to verify the effectiveness of the proposed strategy.

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

    PubMed Central

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

    2013-01-01

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

  14. Implementation of a sliding-mode-based position sensorless drive for high-speed micro permanent-magnet synchronous motors.

    PubMed

    Chi, Wen-Chun; Cheng, Ming-Yang

    2014-03-01

    Due to issues such as limited space, it is difficult if it is not impossible to employ a position sensor in the drive control of high-speed micro PMSMs. In order to alleviate this problem, this paper analyzes and implements a simple and robust position sensorless field-oriented control method of high-speed micro PMSMs based on the sliding-mode observer. In particular, the angular position and velocity of the rotor of the high-speed micro PMSM are estimated using the sliding-mode observer. This observer is able to accurately estimate rotor position in the low speed region and guarantee fast convergence of the observer in the high speed region. The proposed position sensorless control method is suitable for electric dental handpiece motor drives where a wide speed range operation is essential. The proposed sensorless FOC method is implemented using a cost-effective 16-bit microcontroller and tested in a prototype electric dental handpiece motor. Several experiments are performed to verify the effectiveness of the proposed method.

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

    PubMed

    Huang, Ting; Javaherian, Hossein; Liu, Derong

    2011-06-01

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

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

    NASA Astrophysics Data System (ADS)

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

    2013-09-01

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

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

    NASA Astrophysics Data System (ADS)

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

    2014-01-01

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

  18. A new robust control scheme using second order sliding mode and fuzzy logic of a DFIM supplied by two five-level SVPWM inverters

    NASA Astrophysics Data System (ADS)

    Boudjema, Zinelaabidine; Taleb, Rachid; Bounadja, Elhadj

    2017-02-01

    Traditional filed oriented control strategy including proportional-integral (PI) regulator for the speed drive of the doubly fed induction motor (DFIM) have some drawbacks such as parameter tuning complications, mediocre dynamic performances and reduced robustness. Therefore, based on the analysis of the mathematical model of a DFIM supplied by two five-level SVPWM inverters, this paper proposes a new robust control scheme based on super twisting sliding mode and fuzzy logic. The conventional sliding mode control (SMC) has vast chattering effect on the electromagnetic torque developed by the DFIM. In order to resolve this problem, a second order sliding mode technique based on super twisting algorithm and fuzzy logic functions is employed. The validity of the employed approach was tested by using Matlab/Simulink software. Interesting simulation results were obtained and remarkable advantages of the proposed control scheme were exposed including simple design of the control system, reduced chattering as well as the other advantages.

  19. Rotor Current Control of DFIG for Improving Fault Ride - Through Using a Novel Sliding Mode Control Approach

    NASA Astrophysics Data System (ADS)

    Cai, Guowei; Liu, Cheng; Yang, Deyou

    2013-11-01

    The doubly fed induction generators (DFIG) have been recognized as the dominant technology used in wind power generation systems with the rapid development of wind power. However, continuous operation of DFIG may cause a serious wind turbine generators tripping accident, due to destructive over-current in the rotor winding which is caused by the power system fault or inefficient fault ride-through (FRT) strategy. A new rotor current control scheme in the rotor-side converter (RSC) ispresented to enhance FRT capacities of grid-connected DFIG. Due to the strongly nonlinear nature of DFIG and insensitive to DFIG parameter's variations, a novel sliding mode controller was designed. The controller combines extended state observer (ESO) with sliding model variable structure control theory. The simulation is carried out to verify the effectiveness of the proposed control approach under various types of grid disturbances. It is shown that the proposed controller provides enhanced transient features than the classic proportional-integral control. The proposed control method can effectively reduce over-current in the RSC, and the transient pulse value of electromagnetic torque is too large under power grid fault.

  20. Parameter estimation and interval type-2 fuzzy sliding mode control of a z-axis MEMS gyroscope.

    PubMed

    Fazlyab, Mahyar; Pedram, Maysam Zamani; Salarieh, Hassan; Alasty, Aria

    2013-11-01

    This paper reports a hybrid intelligent controller for application in single axis MEMS vibratory gyroscopes. First, unknown parameters of a micro gyroscope including unknown time varying angular velocity are estimated online via normalized continuous time least mean squares algorithm. Then, an additional interval type-2 fuzzy sliding mode control is incorporated in order to match the resonant frequencies and to compensate for undesired mechanical couplings. The main advantage of this control strategy is its robustness to parameters uncertainty, external disturbance and measurement noise. Consistent estimation of parameters is guaranteed and stability of the closed-loop system is proved via the Lyapunov stability theorem. Finally, numerical simulation is done in order to validate the effectiveness of the proposed method, both for a constant and time-varying angular rate.

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

    SciTech Connect

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

    2009-03-05

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

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

    PubMed

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

    2014-12-05

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

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

    PubMed Central

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

    2014-01-01

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

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

    PubMed

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

    2009-01-01

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

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

    PubMed Central

    Zhao, Bo; Li, Yuanchun

    2015-01-01

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

  6. Real-time networked control of an industrial robot manipulator via discrete-time second-order sliding modes

    NASA Astrophysics Data System (ADS)

    Massimiliano Capisani, Luca; Facchinetti, Tullio; Ferrara, Antonella

    2010-08-01

    This article presents the networked control of a robotic anthropomorphic manipulator based on a second-order sliding mode technique, where the control objective is to track a desired trajectory for the manipulator. The adopted control scheme allows an easy and effective distribution of the control algorithm over two networked machines. While the predictability of real-time tasks execution is achieved by the Soft Hard Real-Time Kernel (S.Ha.R.K.) real-time operating system, the communication is established via a standard Ethernet network. The performances of the control system are evaluated under different experimental system configurations using, to perform the experiments, a COMAU SMART3-S2 industrial robot, and the results are analysed to put into evidence the robustness of the proposed approach against possible network delays, packet losses and unmodelled effects.

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

    NASA Astrophysics Data System (ADS)

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

    2009-03-01

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

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

    PubMed

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

    2015-01-01

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

  9. An experimental comparison of proportional-integral, sliding mode, and robust adaptive control for piezo-actuated nanopositioning stages.

    PubMed

    Gu, Guo-Ying; Zhu, Li-Min

    2014-05-01

    This paper presents a comparative study of the proportional-integral (PI) control, sliding mode control (SMC), and robust adaptive control (RAC) for applications to piezo-actuated nanopositioning stages without the inverse hysteresis construction. For a fair comparison, the control parameters of the SMC and RAC are selected on the basis of the well-tuned parameters of the PI controller under same desired trajectories and sampling frequencies. The comparative results show that the RAC improves the tracking performance by 17 and 37 times than the PI controller in terms of the maximum tracking error e(m) and the root mean tracking error e(rms), respectively, while the RAC improves the tracking performance by 7 and 9 times than the SMC in terms of e(m) and e(rms), respectively.

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

    PubMed Central

    Lin, Jhih-Hong; Chiang, Mao-Hsiung

    2016-01-01

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

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

    PubMed

    Lin, Jhih-Hong; Chiang, Mao-Hsiung

    2016-08-25

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

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

    NASA Astrophysics Data System (ADS)

    Cao, Zhengcai; Yin, Longjie; Fu, Yili

    2013-01-01

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

  13. Purified Kinesin Promotes Vesicle Motility and Induces Active Sliding Between Microtubules In vitro

    NASA Astrophysics Data System (ADS)

    Urrutia, Raul; McNiven, Mark A.; Albanesi, Joseph P.; Murphy, Douglas B.; Kachar, Bechara

    1991-08-01

    We examined the ability of kinesin to support the movement of adrenal medullary chromaffin granules on microtubules in a defined in vitro system. We found that kinesin and ATP are all that is required to support efficient (33% vesicle motility) and rapid (0.4-0.6 μ m/s) translocation of secretory granule membranes on microtubules in the presence of a low-salt motility buffer. Kinesin also induced the formation of microtubule asters in this buffer, with the plus ends of microtubules located at the center of each aster. This observation indicates that kinesin is capable of promoting active sliding between microtubules toward their respective plus ends, a movement analogous to that of anaphase b in the mitotic spindle. The fact that vesicle translocation, microtubule sliding, and microtubule-dependent kinesin ATPase activities are all enhanced in low-salt buffer establishes a functional parallel between this translocator and other motility ATPases, myosin, and dynein.

  14. Active archaeal communities at cold seep sediments populated by Siboglinidae tubeworms from the Storegga Slide.

    PubMed

    Lazar, Cassandre Sara; Dinasquet, Julie; Pignet, Patricia; Prieur, Daniel; Toffin, Laurent

    2010-10-01

    Siboglinid tubeworms in cold seep sediments can locally modify the geochemical gradients of electron acceptors and donors, hence creating potential microhabitats for prokaryotic populations. The archaeal communities associated with sediments populated by Oligobrachia haakonmosbiensis and Sclerolinum contortum Siboglinid tubeworms in the Storegga Slide were examined in this study. Vertical distribution of archaeal communities was investigated using denaturing gradient gel electrophoresis based on 16S rRNA genes. The active fraction of the archaeal community was assessed by using reverse-transcribed rRNA. Archaeal communities associated with sediments colonized by tubeworms were affiliated with uncultivated archaeal lineages of the Crenarchaeota and Euryarchaeota. The composition of the active archaeal populations changed with depth indicating a reorganization of microbial communities. 16S rRNA gene libraries were dominated by sequences affiliated to the Rice Cluster V which are unusual in marine sediment samples. Moreover, this study provides the first evidence of living Crenarchaeota of the Rice Cluster V in cold seep sediments. Furthermore, the Storegga Slide sediments harbored a high diversity of other minor groups of uncultivated lineages including Terrestrial Miscellaneous Euryarchaeotal Group, Marine Benthic Group (MBG)-D, MBG-E, Deep-Sea Hydrothermal Vent Euryarchaeotal Group, Lake Dagow Sediment, Val Kotinen Lake clade III, and Sippenauer Moor 1. Thus, we hypothesize that the vertical geochemical imprint created by the tubeworms could support broad active archaeal populations in the Siboglinidae-populated Storegga Slide sediments.

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

    PubMed

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

    2016-01-01

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

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

    NASA Astrophysics Data System (ADS)

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

    2016-05-01

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

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

    NASA Astrophysics Data System (ADS)

    Li, Boyuan; Du, Haiping; Li, Weihua

    2016-05-01

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

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

    NASA Astrophysics Data System (ADS)

    Yoshimura, Toshio

    2016-02-01

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

  19. Adaptive Neuro-Fuzzy Control of a Spherical Rolling Robot Using Sliding-Mode-Control-Theory-Based Online Learning Algorithm.

    PubMed

    Kayacan, Erkan; Kayacan, Erdal; Ramon, Herman; Saeys, Wouter

    2013-02-01

    As a model is only an abstraction of the real system, unmodeled dynamics, parameter variations, and disturbances can result in poor performance of a conventional controller based on this model. In such cases, a conventional controller cannot remain well tuned. This paper presents the control of a spherical rolling robot by using an adaptive neuro-fuzzy controller in combination with a sliding-mode control (SMC)-theory-based learning algorithm. The proposed control structure consists of a neuro-fuzzy network and a conventional controller which is used to guarantee the asymptotic stability of the system in a compact space. The parameter updating rules of the neuro-fuzzy system using SMC theory are derived, and the stability of the learning is proven using a Lyapunov function. The simulation results show that the control scheme with the proposed SMC-theory-based learning algorithm is able to not only eliminate the steady-state error but also improve the transient response performance of the spherical rolling robot without knowing its dynamic equations.

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

    NASA Astrophysics Data System (ADS)

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

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

  1. Sliding Mode Control of a Class of Uncertain Nonlinear Time-Delay Systems Using LMI and TS Recurrent Fuzzy Neural Network

    NASA Astrophysics Data System (ADS)

    Chiang, Tung-Sheng; Chiu, Chian-Song

    This paper proposes the sliding mode control using LMI techniques and adaptive recurrent fuzzy neural network (RFNN) for a class of uncertain nonlinear time-delay systems. First, a novel TS recurrent fuzzy neural network (TS-RFNN) is developed to provide more flexible and powerful compensation of system uncertainty. Then, the TS-RFNN based sliding model control is proposed for uncertain time-delay systems. In detail, sliding surface design is derived to cope with the non-Isidori-Bynes canonical form of dynamics, unknown delay time, and mismatched uncertainties. Based on the Lyapunov-Krasoviskii method, the asymptotic stability condition of the sliding motion is formulated into solving a Linear Matrix Inequality (LMI) problem which is independent on the time-varying delay. Furthermore, the input coupling uncertainty is also taken into our consideration. The overall controlled system achieves asymptotic stability even if considering poor modeling. The contributions include: i) asymptotic sliding surface is designed from solving a simple and legible delay-independent LMI; and ii) the TS-RFNN is more realizable (due to fewer fuzzy rules being used). Finally, simulation results demonstrate the validity of the proposed control scheme.

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

    NASA Astrophysics Data System (ADS)

    Liu, Jianxing; Laghrouche, Salah; Wack, Maxime

    2014-06-01

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

  3. Fully automatic control of paraplegic FES pedaling using higher-order sliding mode and fuzzy logic control.

    PubMed

    Farhoud, Aidin; Erfanian, Abbas

    2014-05-01

    In this paper, a fully automatic robust control strategy is proposed for control of paraplegic pedaling using functional electrical stimulation (FES). The method is based on higher-order sliding mode (HOSM) control and fuzzy logic control. In FES, the strength of muscle contraction can be altered either by varying the pulse width (PW) or by the pulse amplitude (PA) of the stimulation signal. The proposed control strategy regulates simultaneously both PA and PW (i.e., PA/PW modulation). A HOSM controller is designed for regulating the PW and a fuzzy logic controller for the PA. The proposed control scheme is free-model and does not require any offline training phase and subject-specific information. Simulation studies on a virtual patient and experiments on three paraplegic subjects demonstrate good tracking performance and robustness of the proposed control strategy against muscle fatigue and external disturbances during FES-induced pedaling. The results of simulation studies show that the power and cadence tracking errors are 5.4% and 4.8%, respectively. The experimental results indicate that the proposed controller can improve pedaling system efficacy and increase the endurance of FES pedaling. The average of power tracking error over three paraplegic subjects is 7.4±1.4% using PA/PW modulation, while the tracking error is 10.2±1.2% when PW modulation is used. The subjects could pedal for 15 min with about 4.1% power loss at the end of experiment using proposed control strategy, while the power loss is 14.3% using PW modulation. The controller could adjust the stimulation intensity to compensate the muscle fatigue during long period of FES pedaling.

  4. SMA actuator material model with self-sensing and sliding-mode control; experiment and multibody dynamics model

    NASA Astrophysics Data System (ADS)

    Lambert, Tyler Ross; Gurley, Austin; Beale, David

    2017-03-01

    Shape memory alloys (SMA) can be used to create actuators that are simple, high strength, and inexpensive. These benefits come at the cost of low electrical efficiency, moderate lifetime, and complex mechanical behavior that makes them difficult to design into new applications and products. To improve the integration of SMA actuators—in particular thin SMA wires heated by passing electric current through them—into modern mechanical applications, we have created tools for modeling SMA mechanical and thermal behavior in dynamic systems and under feedback controls. Thermo-electro-mechanical constitutive models are implemented in a multibody dynamics software where they are easily applied to an actuator emplaced in a multibody dynamic system. Mechanical behavior is modeled with 1D constitutive equations. The material state determines the electrical resistivity of the material which drives ohmic heating, while thermal cooling is based on a heat transfer analysis of thin cylinders. These models contain states which are very difficult to measure experimentally (such as crystal phase fraction) and thus provide insight into the material behavior and design that experimental results cannot offer. This thermomechanical model is used in conjunction with sliding mode control—historically difficult to simulate in numerically integrated models—to develop a working ball-on-a-beam setup in which the ball position is controlled via current passed through an SMA wire and with application of an original self-sensing method. The constitutive model is developed in the multibody dynamics software MSC ADAMS and validated through the simulation of the same system.

  5. Decoupling control based on terminal sliding mode and wavelet network for the speed and tension system of reversible cold strip rolling mill

    NASA Astrophysics Data System (ADS)

    Fang, Yiming; Liu, Le; Li, Jianxiong; Xu, Yanze

    2015-08-01

    To weaken the nonlinear coupling influences among the variables in the speed and tension system of reversible cold strip rolling mill, a novel dynamic decoupling control strategy is proposed based on nonsingular fast terminal sliding mode (NFTSM) and wavelet neural network (WNN). First, nonlinear disturbance observers are developed to counteract the mismatched uncertainties, and then input/output dynamic decoupling and linearisation for the speed and tension nonlinear coupling system are realised by utilising the inverse system theory. Second, nonsingular fast terminal sliding mode controller (NFTSMC) for each pseudo linear subsystem is presented based on backstepping and two-power reaching law, so as to improve the global convergence speed and robust stability of the system. Third, adaptive WNNs are used to approximate the uncertain items of the system, so as to improve the control precision of the speed and tension of reversible cold strip rolling mill. Theoretical analyses show that the NFTSMs satisfy reachability condition, the system error variables can converge to equilibrium point in finite time, and the resulting closed-loop system is globally asymptotically stable. Finally, simulation research is carried out on the speed and tension system of a 1422 mm reversible cold strip rolling mill by using the actual data, and results show the superiority of the proposed control strategy in comparison with the strategies of cascade PI, linear sliding mode control and internal model control.

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

    PubMed Central

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

    2015-01-01

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

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

    NASA Astrophysics Data System (ADS)

    Kobravi, Hamid-Reza; Erfanian, Abbas

    2009-08-01

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

  8. Active control of multiple resistive wall modes

    NASA Astrophysics Data System (ADS)

    Brunsell, P. R.; Yadikin, D.; Gregoratto, D.; Paccagnella, R.; Liu, Y. Q.; Bolzonella, T.; Cecconello, M.; Drake, J. R.; Kuldkepp, M.; Manduchi, G.; Marchiori, G.; Marrelli, L.; Martin, P.; Menmuir, S.; Ortolani, S.; Rachlew, E.; Spizzo, G.; Zanca, P.

    2005-12-01

    A two-dimensional array of saddle coils at Mc poloidal and Nc toroidal positions is used on the EXTRAP T2R reversed-field pinch (Brunsell P R et al 2001 Plasma Phys. Control. Fusion 43 1457) to study active control of resistive wall modes (RWMs). Spontaneous growth of several RWMs with poloidal mode number m = 1 and different toroidal mode number n is observed experimentally, in agreement with linear MHD modelling. The measured plasma response to a controlled coil field and the plasma response computed using the linear circular cylinder MHD model are in quantitive agreement. Feedback control introduces a linear coupling of modes with toroidal mode numbers n, n' that fulfil the condition |n - n'| = Nc. Pairs of coupled unstable RWMs are present in feedback experiments with an array of Mc × Nc = 4 × 16 coils. Using intelligent shell feedback, the coupled modes are generally not controlled even though the field is suppressed at the active coils. A better suppression of coupled modes may be achieved in the case of rotating modes by using the mode control feedback scheme with individually set complex gains. In feedback with a larger array of Mc × Nc = 4 × 32 coils, the coupling effect largely disappears, and with this array, the main internal RWMs n = -11, -10, +5, +6 are all simultaneously suppressed throughout the discharge (7 8 wall times). With feedback there is a two-fold extension of the pulse length, compared to discharges without feedback.

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

    NASA Astrophysics Data System (ADS)

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

    2014-12-01

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

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

    NASA Astrophysics Data System (ADS)

    Phu, Do Xuan; Choi, Seung-Bok

    2015-02-01

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

  11. Nonlinear and chaos control of a micro-electro-mechanical system by using second-order fast terminal sliding mode control

    NASA Astrophysics Data System (ADS)

    Zhankui, Song; Sun, Kaibiao

    2013-09-01

    In this paper, a novel second-order fast terminal sliding mode control (SFTSMC) scheme is proposed to suppress the chaotic motion of a micro-mechanical resonator with system uncertainty and external disturbance. To obtain a better disturbance rejection property, a fuzzy logic system is introduced to estimate the upper boundary of the sum of system uncertainty and external disturbance. Moreover, we employ the finite-time technique to obtain the properties of fast response and high precision. Finally, numerical simulations demonstrate the effectiveness of the proposed control scheme.

  12. GLACIER SLIDING,

    DTIC Science & Technology

    The theory of the sliding of glaciers presented in earlier papers has been generalized (1) by taking into account the resistance to sliding offered...bed at the downstream side of an obstacle. The sliding velocities and controlling obstacle sizes which are found from the generalized theory are...magnitude smaller in thickness than the height of the controlling obstacles can cause an appreciable increase in the sliding velocity. The generalized

  13. Normal Modes Expose Active Sites in Enzymes

    PubMed Central

    Glantz-Gashai, Yitav; Samson, Abraham O.

    2016-01-01

    Accurate prediction of active sites is an important tool in bioinformatics. Here we present an improved structure based technique to expose active sites that is based on large changes of solvent accessibility accompanying normal mode dynamics. The technique which detects EXPOsure of active SITes through normal modEs is named EXPOSITE. The technique is trained using a small 133 enzyme dataset and tested using a large 845 enzyme dataset, both with known active site residues. EXPOSITE is also tested in a benchmark protein ligand dataset (PLD) comprising 48 proteins with and without bound ligands. EXPOSITE is shown to successfully locate the active site in most instances, and is found to be more accurate than other structure-based techniques. Interestingly, in several instances, the active site does not correspond to the largest pocket. EXPOSITE is advantageous due to its high precision and paves the way for structure based prediction of active site in enzymes. PMID:28002427

  14. Analysis of the characteristics of slot design affecting resistance to sliding during active archwire configurations

    PubMed Central

    2013-01-01

    Background During orthodontic treatment, a low resistance to slide (RS) is desirable when sliding mechanics are used. Many studies showed that several variables affect the RS at the bracket-wire interface; among these, the design of the bracket slot has not been deeply investigated yet. This study aimed to clarify the effect of different slot designs on the RS expressed by five types of low-friction brackets in vertical and horizontal active configurations of the wire. Methods Five low-friction brackets (Damon SL II, Ormco, Orange, CA, USA; In-Ovation, GAC International, Bohemia, NY, USA; Quick, Forestadent, Pforzheim, Germany; Time 2, AO, Sheboygan, WI, USA; Synergy, RMO, Denver, CO, USA) coupled with an 0.014-in NiTi thermal wire (Therma-Lite, AO) were tested in two three-bracket experimental models simulating vertical and horizontal bracket displacements. A custom-made machine was used to measure frictional resistance with tests repeated on ten occasions for each bracket-wire combination. Design characteristics such as the mesio-distal slot width, slot depth, and presence of chamfered edges at the extremities of the slot were evaluated on SEM images (SUPRA, Carl Zeiss, Oberkochen, Germany) and analyzed in relation to the data of RS recorded. Results Time 2 was found to show the higher frictional forces (1.50 and 1.35 N) in both experimental models (p < 0.05), while Quick and Synergy brackets showed the lower frictional values in the vertical (0.66 N) and in the horizontal (0.68 N) bracket displacements, respectively. With vertically displaced brackets, the increased mesio-distal slot width and the presence of clear angle at mesial and distal slot edges increase the values of RS. With brackets horizontally displaced, the RS expressed by the wire is influenced simultaneously by the depth of the slot, the mesio-distal slot width, and the presence of clear angle at the extremities of the slot base, the clip, or the slide. Conclusion In order to select the proper low

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

    NASA Technical Reports Server (NTRS)

    Shtessel, Yuri B.

    2002-01-01

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

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

    NASA Astrophysics Data System (ADS)

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

    2015-11-01

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

  17. Drivers and Estimates of Terrain Suitability for Active Layer Detachment Slides and Retrogressive Thaw Slumps in the Brooks Range and Foothills of Northwest Alaska, USA

    NASA Astrophysics Data System (ADS)

    Balser, A.; Jones, J.

    2015-12-01

    Active layer detachment sliding and retrogressive thaw slumping are important modes of upland permafrost degradation and disturbance in permafrost regions, and have been linked with climate warming trends, ecosystem impacts, and permafrost carbon release. In the Brooks Range and foothills of northwest Alaska, these features are widespread, with distribution linked to multiple landscape properties. Inter-related and co-varying terrain properties, including surficial geology, topography, geomorphology, vegetation and hydrology, are generally considered key drivers of permafrost landscape characteristics and responses to climate perturbation. However, these inter-relationships as collective drivers of terrain suitability for active layer detachment and retrogressive thaw slump processes are poorly understood in this region. We empirically tested and refined a hypothetical model of terrain factors driving active layer detachment and retrogressive thaw slump terrain suitability, and used final model results to generate synoptic terrain suitability estimates across the study region. Spatial data for terrain properties were examined against locations of 2,492 observed active layer detachments and 805 observed retrogressive thaw slumps using structural equation modelling and integrated terrain unit analysis. Factors significant to achieving model fit were found to substantially hone and constrain region-wide terrain suitability estimates, suggesting that omission of relevant factors leads to broad overestimation of terrain suitability. Resulting probabilistic maps of terrain suitability, and a threshold-delineated mask of suitable terrain, were used to quantify and describe landscape settings typical of these features. 51% of the study region is estimated suitable terrain for retrogressive thaw slumps, compared with 35% for active layer detachment slides, while 29% of the study region is estimated suitable for both. Results improve current understanding of arctic landscape

  18. Scapulothoracic Muscle Activity during Use of a Wall Slide Device (WSD), a Comparison with the General Wall Push up Plus

    PubMed Central

    Park, Se-yeon; Ahn, Tae-kyung; Eom, Ji-hwan; Youn, Hyun-ji; Kim, In-kwang; Yoo, Won-gyu

    2014-01-01

    [Purpose] The purpose of this study was to evaluate the effect of the wall slide device on activation of the scapulothoracic musculature. [Subjects] We recruited 15 healthy male subjects. [Methods] The subjects performed the general wall push-up plus (WPUP) and the wall slide with device (WSD) exercises. During the exercises, the muscle activities of the upper and lower trapezius (UT, LT), middle and lower serratus anterior (MSA, LSA), and pectoralis major (PM) were measured. [Results] The normalized muscle activity data of the WSD were significantly higher in UT, MSA and LSA than the WPUP. [Conclusion] Our results suggest that exercise using the WSD can more effectively activate the scapulothoracic musculature than the general WPUP. PMID:25013271

  19. Activated air produced by shielded sliding discharge plasma mediates plasmid DNA delivery to mammalian cells.

    PubMed

    Edelblute, Chelsea M; Heller, Loree C; Malik, Muhammad A; Heller, Richard

    2015-12-01

    Cold plasma is emerging as a potential method for medical applications. The current study assessed the efficacy of a novel cold plasma reactor based on shielded sliding discharge producing cathode-directed streamers generated in ambient air for the delivery of plasmid DNA. Experiments were performed with mouse melanoma cells (B16F10) and human keratinocyte cells (HaCaT) inoculated with plasmid DNA encoding luciferase. Quantitative results measured over a 72-h period displayed luciferase expression levels as high as 5-fold greater in cells exposed to plasma-activated air (PAA) than levels obtained from the inoculation of plasmid DNA alone (P < 0.05, P < 0.01). No effect on cell viability was observed. Delivery of plasmid encoding GFP to HaCaT cells seeded on polycaprolactone (PCL) scaffolds was confirmed by immunostaining. The use of cold plasma for DNA delivery is attractive as it provides a non-viral, non-invasive method where the electrode or the plasma itself never directly contacts the exposed site. The current device design provides localized DNA transfer using a novel technology. Our report suggests PAA warrants further exploration as an alternative or supplemental approach for DNA transfer.

  20. Tracking with asymptotic sliding mode and adaptive input delay effect compensation of nonlinearly perturbed delayed systems applied to traffic feedback control

    NASA Astrophysics Data System (ADS)

    Mirkin, Boris; Haddad, Jack; Shtessel, Yuri

    2016-09-01

    Asymptotical sliding mode-model reference adaptive control design for a class of systems with parametric uncertainty, unknown nonlinear perturbation and external disturbance, and with known input and state delays is proposed. To overcome the difficulty to directly predict the plant state under uncertainties, a control design is based on a developed decomposition procedure, where a 'generalised error' in conjunction with auxiliary linear dynamic blocks with adjustable gains is introduced and the sliding variable is formed on the basis of this error. The effect of such a decomposition is to pull the input delay out of first step of the design procedure. As a result, similarly to the classical Smith predictor, the adaptive control architecture based only on the lumped-delays, i.e. without conventional in such cases difficult-implemented distributed-delay blocks. Two new adaptive control schemes are proposed. A linearisation-based control design is constructed for feedback control of an urban traffic region model with uncertain dynamics. Simulation results demonstrate the effectiveness of the developed adaptive control method.

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

    PubMed

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

    2015-09-01

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

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

    PubMed

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

    2016-03-01

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

  3. Robust pre-specified time synchronization of chaotic systems by employing time-varying switching surfaces in the sliding mode control scheme

    NASA Astrophysics Data System (ADS)

    Khanzadeh, Alireza; Pourgholi, Mahdi

    2016-08-01

    In the conventional chaos synchronization methods, the time at which two chaotic systems are synchronized, is usually unknown and depends on initial conditions. In this work based on Lyapunov stability theory a sliding mode controller with time-varying switching surfaces is proposed to achieve chaos synchronization at a pre-specified time for the first time. The proposed controller is able to synchronize chaotic systems precisely at any time when we want. Moreover, by choosing the time-varying switching surfaces in a way that the reaching phase is eliminated, the synchronization becomes robust to uncertainties and exogenous disturbances. Simulation results are presented to show the effectiveness of the proposed method of stabilizing and synchronizing chaotic systems with complete robustness to uncertainty and disturbances exactly at a pre-specified time.

  4. Actively mode-locked Raman fiber laser.

    PubMed

    Yang, Xuezong; Zhang, Lei; Jiang, Huawei; Fan, Tingwei; Feng, Yan

    2015-07-27

    Active mode-locking of Raman fiber laser is experimentally investigated for the first time. An all fiber connected and polarization maintaining loop cavity of ~500 m long is pumped by a linearly polarized 1120 nm Yb fiber laser and modulated by an acousto-optic modulator. Stable 2 ns width pulse train at 1178 nm is obtained with modulator opening time of > 50 ns. At higher power, pulses become longer, and second order Raman Stokes could take place, which however can be suppressed by adjusting the open time and modulation frequency. Transient pulse evolution measurement confirms the absence of relaxation oscillation in Raman fiber laser. Tuning of repetition rate from 392 kHz to 31.37 MHz is obtained with harmonic mode locking.

  5. Reconstruction of anterior mitral leaflet using autologous pericardial patch combined with posterior leaflet sliding for active infective endocarditis.

    PubMed

    Kimura, Satoshi; Yamaki, Yuta; Umesue, Masayoshi

    2014-04-01

    We report a case of active infective endocarditis in a young adult, affecting the anterior and posterior leaflets extensively. The patient underwent a mitral valve repair with extended sliding repair on the posterior leaflet and reconstruction using an autologous pericardial patch supported by an artificial chord on the anterior leaflet. Although we finally needed commissure closing for successful repair, we aggressively achieved a repair-oriented strategy using several techniques in a young patient who may have required mitral valve replacement.

  6. PROMINENCE ACTIVATION BY CORONAL FAST MODE SHOCK

    SciTech Connect

    Takahashi, Takuya; Asai, Ayumi; Shibata, Kazunari

    2015-03-01

    An X5.4 class flare occurred in active region NOAA11429 on 2012 March 7. The flare was associated with a very fast coronal mass ejection (CME) with a velocity of over 2500 km s{sup −1}. In the images taken with the Solar Terrestrial Relations Observatory-B/COR1, a dome-like disturbance was seen to detach from an expanding CME bubble and propagated further. A Type-II radio burst was also observed at the same time. On the other hand, in extreme ultraviolet images obtained by the Solar Dynamic Observatory/Atmospheric Imaging Assembly (AIA), the expanding dome-like structure and its footprint propagating to the north were observed. The footprint propagated with an average speed of about 670 km s{sup −1} and hit a prominence located at the north pole and activated it. During the activation, the prominence was strongly brightened. On the basis of some observational evidence, we concluded that the footprint in AIA images and the ones in COR1 images are the same, that is, the MHD fast mode shock front. With the help of a linear theory, the fast mode Mach number of the coronal shock is estimated to be between 1.11 and 1.29 using the initial velocity of the activated prominence. Also, the plasma compression ratio of the shock is enhanced to be between 1.18 and 2.11 in the prominence material, which we consider to be the reason for the strong brightening of the activated prominence. The applicability of linear theory to the shock problem is tested with a nonlinear MHD simulation.

  7. All-Atom Calculation of the Normal Modes of Bacteriorhodopsin Using a Sliding Block Iterative Diagonalization Method.

    PubMed

    Kaledin, Alexey L; Kaledin, Martina; Bowman, Joel M

    2006-01-01

    Conventional normal-mode analysis of molecular vibrations requires computation and storage of the Hessian matrix. For a typical biological system such storage can reach several gigabytes posing difficulties for straightforward implementation. In this work we discuss an iterative block method to carry out full diagonalization of the Hessian while only storing a few vectors in memory. The iterative approach is based on the conjugate gradient formulation of the Davidson algorithm for simultaneous optimization of L roots, where in our case 10 < L < 300. The procedure is modified further by automatically adding a new vector into the search space for each locked (converged) root and keeping the new vector orthogonal to the eigenvectors previously determined. The higher excited states are then converged with the orthonormality constraint to the locked roots by applying a projector which is carried out using a read-rewind step done once per iteration. This allows for convergence of as many roots as desired without increasing the computer memory. The required Hessian-vector products are calculated on the fly as follows, Kp = dgp/dt, where K is the mass weighted Hessian, and gp is the gradient along p. The method has been implemented into the TINKER suite of molecular design codes. Preliminary results are presented for the normal modes of bacteriorhodopsin (bR) up to 300 cm(-)(1) and for the high frequency range between 2840 and 3680 cm(-)(1). There is evidence of a highly localized, noncollective mode at ∼1.4 cm(-)(1), caused by long-range interactions acting between the cytoplasmic and extracellular domains of bR.

  8. The Fibrin slide assay for detecting urokinase activity in human fetal kidney cells

    NASA Technical Reports Server (NTRS)

    Sedor, K.

    1985-01-01

    The Fibrin Slide Technique of Hau C. Kwaan and Tage Astrup is discussed. This relatively simple assay involves two steps: the formation of an artificial clot and then the addition of an enzyme (UKOKINASE) to dissolve the clot. The actual dissolving away of the clot is detected by the appearance of holes (lysis zones) in the stained clot. The procedure of Kwaan and Astrup is repeated, along with modifications and suggestions for improvements based on experience with the technique.

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

    NASA Astrophysics Data System (ADS)

    Chiang, Mao-Hsiung; Chien, Yu-Wei

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

  10. Broadband radiation modes: estimation and active control.

    PubMed

    Berkhoff, Arthur P

    2002-03-01

    In this paper we give a formulation of the most efficiently radiating vibration patterns of a vibrating body, the radiation modes, in the time domain. The radiation modes can be used to arrive at efficient weighting schemes for an array of sensors in order to reduce the controller dimensionality. Because these particular radiation modes are optimum in a broadband sense, they are termed broadband radiation modes. Methods are given to obtain these modes from measured data. The broadband radiation modes are used for the design of an actuator array in a feedback control system to reduce the sound power radiated from a plate. Three methods for the design of the actuator are compared, taking into account the reduction of radiated sound power in the controlled frequency range, but also the possible increase of radiated sound power in the uncontrolled frequency range.

  11. A magnetorheological damper-based prosthetic knee (MRPK) and sliding mode tracking control method for an MRPK-based lower limb prosthesis

    NASA Astrophysics Data System (ADS)

    Fu, Qiang; Wang, Dai-Hua; Xu, Lei; Yuan, Gang

    2017-04-01

    Based on a two-bar linkage and a magnetorheological damper (MRD) with a double-ended structure and shearing operation mode of the magnetorheological fluid, an MRD-based prosthetic knee (MRPK) is realized. Utilizing the developed MRPK, an MRD-based lower limb prosthesis (MRLLP) is developed, modeled, and simulated in this paper, to analyse the effects of hysteresis of the integrated MRD on the swing angle of the shank of the MRLLP. Based on this, a sliding mode tracking control (SMTC) method for controlling the swing angle of the shank of the MRLLP is proposed to suppress hysteresis, along with a robustness analysis. Utilizing the SMTC method, co-simulations on controlling the swing angle of the shank of the MRLLP are carried out in ADAMS and Simulink. The simulation results show that the root mean square error (RMSE) of the swing angle of the shank of the MRLLP produced by the SMTC method is 80% less than that from the computed torque plus PD (CT+PD) control method. Therefore, the SMTC method is effective in suppressing hysteresis of the MRD. Furthermore, when the MRLLP is disturbed, the RMSE of the swing angle of the shank of the MRLLP produced by the SMTC method is 67% less than that from the CT+PD control method. Therefore, the SMTC method has strong robustness to random disturbance. A rapid control prototype of the MRLLP system and a corresponding experimental test system are established. On the established experimental test system, experiments are carried out on control of the swing angle of the shank of the MRLLP via the SMTC method. The results are compared with those from the ON/OFF and the CT+PD control methods. The experimental results show that the MRPK has controllable joint torque, and can be used to imitate the natural swing of a human knee joint. Additionally, the RMSE of the controlled swing angle of the shank of the MRLLP produced by the SMTC method is 34% less than that produced by the CT+PD control method and is 37% less than that from the ON

  12. Active Learning: A Small Group Histology Laboratory Exercise in a Whole Class Setting Utilizing Virtual Slides and Peer Education

    ERIC Educational Resources Information Center

    Bloodgood, Robert A.

    2012-01-01

    Histology laboratory instruction is moving away from the sole use of the traditional combination of light microscopes and glass slides in favor of virtual microscopy and virtual slides. At the same time, medical curricula are changing so as to reduce scheduled time for basic science instruction as well as focusing on student-centered learning…

  13. Strain localization in ultramylonitic marbles by simultaneous activation of dislocation motion and grain boundary sliding (Syros, Greece)

    NASA Astrophysics Data System (ADS)

    Rogowitz, A.; White, J. C.; Grasemann, B.

    2016-03-01

    Extreme strain localization occurred in the centre of the cross-cutting element of a flanking structure in almost pure calcite marbles from Syros, Greece. At the maximum displacement of 120 cm along the cross-cutting element, evidence of grain size sensitive deformation mechanisms can be found in the ultramylonitic marbles, which are characterized by (1) an extremely small grain size ( ˜ 3 µm), (2) grain boundary triple junctions with nearly 120° angles, (3) a weak crystallographic preferred orientation with very low texture index (J = 1.4), (4) a random misorientation angle distribution curve and (5) the presence of small cavities. Using transmission electron microscopy, a deformation sequence is observed comprising recrystallization dominantly by bulging, resulting in the development of the fine-grained ultramylonite followed by the development of a high dislocation density ( ˜ 1013 m-2) with ongoing deformation of the fine-grained ultramylonite. The arrangement of dislocations in the extremely fine-grain-sized calcite differs from microstructures created by classical dislocation creep mediated by combined glide and thermally activated climb. Instead, it exhibits extensive glide and dislocation networks characteristic of recovery accommodated by cross-slip and network-assisted dislocation movement without formation of idealized subgrain walls. The enabling of grain boundary sliding to dislocation activity is deemed central to initiating and sustaining strain softening and is argued to be an important strain localization process in calcite rocks, even at a high strain rate ( ˜ 10-9 s-1) and low temperature (300 °C).

  14. Strain localization in ultramylonitic marbles by simultaneous activation of dislocation motion and grain boundary sliding (Syros, Greece)

    NASA Astrophysics Data System (ADS)

    Rogowitz, A.; White, J. C.; Grasemann, B.

    2015-09-01

    Extreme strain localization occurred in the center of the cross-cutting element of a flanking structure in almost pure calcite marbles from Syros, Greece. At the maximum displacement of 120 cm along the cross-cutting element evidence of grain size sensitive deformation mechanisms can be found in the ultramylonitic marbles, which are characterized by (1) an extremely small grain size (∼3 μm), (2) grain boundary triple junctions with nearly 120° angles, (3) a weak crystallographic preferred orientation with very low texture index (J=1.4), (4) a random misorientation angle distribution curve and (5) the presence of small cavities. Using transmission electron microscopy a deformation sequence is observed comprising, first recrystallization by bulging resulting in the development of the fine-grained ultramylonite followed by the evolution of a high dislocation density (∼1013 m-2) with ongoing deformation of the fine-grained ultramylonite. The arrangement of dislocations in the extremely fine grain sized calcite differs from microstructures created by classical dislocation creep mediated by combined glide and thermally activated climb. Instead, it exhibits extensive glide and dislocation networks characteristic of recovery accommodated by cross-slip and network-assisted dislocation movement without formation of idealized subgrain walls. The enabling of grain boundary sliding to dislocation activity is deemed central to initiating and sustaining strain softening and is argued to be an important strain localization process in calcite rocks, even at high strain rate (10-9 s-1) and low temperature (300 °C).

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

    PubMed

    Ghabraei, Soheil; Moradi, Hamed; Vossoughi, Gholamreza

    2015-09-01

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

  16. Active micro-actuators for optical modulation based on a planar sliding triboelectric nanogenerator.

    PubMed

    Zhang, Chi; Tang, Wei; Pang, Yaokun; Han, Changbao; Wang, Zhong Lin

    2015-01-27

    Based on a triboelectric nanogenerator (TENG), the first active micro-actuator for optical modulation driven by mechanical energy without external power or mechanical joint is presented. This demonstrates the enormous potential of TENGs for independent and sustainable self-powered micro/nano electromechanical systems, and opens up new -applications of TENGs in triboelectric-voltage-controlled devices.

  17. Active Control of Linear Periodic System with Two Unstable Modes.

    DTIC Science & Technology

    1982-12-01

    tV;;;.~II.~9 - B ~ZV ~- p1 . ,,~ >. ~ ACTIVE CONTROL OF LINEAR PERIODIC SYSTEM WITH TWO UNSTABLE MODES THESIS by Gregory E. Myers, B.S.E. 2nd Lt...PERIODIC SYSTEM WITH TWO UNSTABLE MODES THESIS Presented to the Faculty of the School of Engineering of the Air Force Institute of Technology Air University...December 1982 Approved for public release; distribution unlimited -ow PREFACE This thesis is a continuation of the work done by Yeakel in the control of

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

    NASA Astrophysics Data System (ADS)

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

    2016-05-01

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

  19. Modes of active deformation in Eastern Hispaniola

    NASA Astrophysics Data System (ADS)

    García-Senz, J.; Pérez-Estaún, A.

    2012-04-01

    Eastern Hispaniola and the Puerto Rico Island are the emerged part of a doubly vergent thrust wedge formed by oblique arc-continent collision with subduction and underthrusting of the North America Plate in the Puerto Rico trench and underthrusting of the Caribbean crust in The Muertos trough (Dolan et al. 1998, Mann et al., 2002, ten Brink et al. 2010). In the relatively small area of Eastern Hispaniola several types of active crustal deformation have been recognized: 1) At the prowedge of the orogene, the rear of the accretionary prism is cut by the strike-slip Septentrional Fault, bounding a sliver plate (Mann et al, 2002). Recent detailed mapping and aeromagnetic surveys in the onshore part of the prism (Samaná Peninsula and Septentrional Cordillera, Sysmin Team) revealed that the internal structure of the sliver is made of parallel bands of sigmoidal, left-lateral, NW-SE thrust splays, bounded by steep strike-slip faults. We interpreted these structures as transpressional strike-slip duplex. It is worth to note the similarity between the strike and dip of the thrust splays and the 303, 62, 74 focal mechanism calculated by Russo and Villaseñor (1995) for the thrust event of the August 4, 1946 Hispaniola earthquake. 2) The uplifted core of the orogen extends between the accretionary prism and the beginning of the Muertos retrowedge. Half of this area is occupied by the Oriental Cordillera, a recent uplift of cretaceous island-arc rocks arching the Late Neogene reef. The rest of the territory is the Caribbean Coastal Plain modelled on the Late Neogene reef. The Oriental Cordillera is made of two en echelon left-stepping uplifts: the domal-shaped Haitises and the rhombohedral-shaped Seibo (García-Senz et al, 2007); the latter share structural similarities and scaling relations with the 90° neutral stepover model of McClay and Bonora (2001). Therefore we interpret it as a restraining stepover developed over a blind splay of the Septentrional Fault, and the main

  20. Active mode locking of lasers by piezoelectrically induced diffraction modulation

    NASA Astrophysics Data System (ADS)

    Krausz, F.; Turi, L.; Kuti, Cs.; Schmidt, A. J.

    1990-04-01

    A new amplitude-modulation mode-locking technique is presented. Acoustic waves are generated directly on the faces of a resonant photoelastic medium. The created standing waves cause a highly efficient diffraction modulation of light. The modulation depth of standing-wave mode lockers is related to material and drive parameters and a figure of merit is introduced. With a lithium niobate crystal modulation depths over 10 are achieved at 1.054 μm and 1 W of radio frequency power. Using this device for the active mode locking of a continuous-wave Nd:glass laser pulses as short as 3.8 ps are produced at a repetition rate of 66 MHz. Limitations of amplitude-modulation mode locking by standing acoustic waves are discussed.

  1. Active mode-locked lasers and other photonic devices using electro-optic whispering gallery mode resonators

    NASA Technical Reports Server (NTRS)

    Matsko, Andrey B. (Inventor); Ilchenko, Vladimir (Inventor); Savchenkov, Anatoliy (Inventor); Maleki, Lutfollah (Inventor)

    2006-01-01

    Techniques and devices using whispering gallery mode (WGM) optical resonators, where the optical materials of the WGM resonators exhibit an electro-optical effect to perform optical modulation. Examples of actively mode-locked lasers and other devices are described.

  2. Progressive Return to Activity Following Acute Concussion/Mild Traumatic Brain Injury: Guidance for the Primary Care Manager in Deployed and Non-deployed Settings (BRIEFING SLIDES)

    DTIC Science & Technology

    2014-01-01

    Progressive Return to Activity Following Acute Concussion /Mild Traumatic Brain Injury Guidance for the Primary Care Manager in Deployed and Non...Following Acute Concussion /Mild Traumatic Brain Injury: Guidance for the Primary Care Manager in Deployed and Non-deployed Settings (BRIEFING SLIDES) 5a...Prescribed by ANSI Std Z39-18 2 Describe the role of this clinical recommendation and overall goal for recovery following concussion /mTBI Understand the

  3. The significance of matrix effects on the measurement of lactate dehydrogenase (LD) activity using Kodak dry slide technology in the Ontario Laboratory Proficiency Testing Program.

    PubMed

    Hill, S A; Heathcote, J C; McQueen, M J

    1990-04-01

    A recent lactate dehydrogenase (LD) survey of the Laboratory Proficiency Testing Program (LPTP) of Ontario showed interlaboratory coefficients of variation ranging from 6.5% to 40% for five lyophilized vials on the 12 Kodak analyzers. All the LPTP survey samples had similar protein and LD isoenzyme electrophoretic patterns which remained unchanged after reconstitution and storage for 5 days at 4 degrees C, although the total LD activities fell. Four Ektachem 700 analyzers were subsequently tested using LPTP material and no difference in LD activity between instruments or between two LD slide lot numbers was shown. Generation 9 slides gave higher LD activities than generation 10 on all the reconstituted lyophilized proficiency testing samples. There was no significant difference between slide generations when 19 liquid human sera were analyzed, indicating that the variability on LPTP samples was due to a matrix effect. Definition of the matrix effect of lyophilized proficiency testing material is essential before any proficiency testing program can use such material to reflect analytical performance on patient specimens.

  4. Actively mode-locked diode laser with a mode spacing stability of ∼6 × 10{sup -14}

    SciTech Connect

    Zakharyash, V F; Kashirsky, A V; Klementyev, V M

    2015-10-31

    We have studied mode spacing stability in an actively mode-locked external-cavity semiconductor laser. It has been shown that, in the case of mode spacing pulling to the frequency of a highly stable external microwave signal produced by a hydrogen standard (stability of 4 × 10{sup -14} over an averaging period τ = 10 s), this configuration ensures a mode spacing stability of 5.92 × 10{sup -14} (τ = 10 s). (control of radiation parameters)

  5. Sliding vane geometry turbines

    DOEpatents

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

    2014-12-30

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

  6. Meditation leads to reduced default mode network activity beyond an active task.

    PubMed

    Garrison, Kathleen A; Zeffiro, Thomas A; Scheinost, Dustin; Constable, R Todd; Brewer, Judson A

    2015-09-01

    Meditation has been associated with relatively reduced activity in the default mode network, a brain network implicated in self-related thinking and mind wandering. However, previous imaging studies have typically compared meditation to rest, despite other studies having reported differences in brain activation patterns between meditators and controls at rest. Moreover, rest is associated with a range of brain activation patterns across individuals that has only recently begun to be better characterized. Therefore, in this study we compared meditation to another active cognitive task, both to replicate the findings that meditation is associated with relatively reduced default mode network activity and to extend these findings by testing whether default mode activity was reduced during meditation, beyond the typical reductions observed during effortful tasks. In addition, prior studies had used small groups, whereas in the present study we tested these hypotheses in a larger group. The results indicated that meditation is associated with reduced activations in the default mode network, relative to an active task, for meditators as compared to controls. Regions of the default mode network showing a Group × Task interaction included the posterior cingulate/precuneus and anterior cingulate cortex. These findings replicate and extend prior work indicating that the suppression of default mode processing may represent a central neural process in long-term meditation, and they suggest that meditation leads to relatively reduced default mode processing beyond that observed during another active cognitive task.

  7. Cascading MutS and MutL sliding clamps control DNA diffusion to activate mismatch repair.

    PubMed

    Liu, Jiaquan; Hanne, Jeungphill; Britton, Brooke M; Bennett, Jared; Kim, Daehyung; Lee, Jong-Bong; Fishel, Richard

    2016-11-24

    Mismatched nucleotides arise from polymerase misincorporation errors, recombination between heteroallelic parents and chemical or physical DNA damage. Highly conserved MutS (MSH) and MutL (MLH/PMS) homologues initiate mismatch repair and, in higher eukaryotes, act as DNA damage sensors that can trigger apoptosis. Defects in human mismatch repair genes cause Lynch syndrome or hereditary non-polyposis colorectal cancer and 10-40% of related sporadic tumours. However, the collaborative mechanics of MSH and MLH/PMS proteins have not been resolved in any organism. We visualized Escherichia coli (Ec) ensemble mismatch repair and confirmed that EcMutS mismatch recognition results in the formation of stable ATP-bound sliding clamps that randomly diffuse along the DNA with intermittent backbone contact. The EcMutS sliding clamps act as a platform to recruit EcMutL onto the mismatched DNA, forming an EcMutS-EcMutL search complex that then closely follows the DNA backbone. ATP binding by EcMutL establishes a second long-lived DNA clamp that oscillates between the principal EcMutS-EcMutL search complex and unrestricted EcMutS and EcMutL sliding clamps. The EcMutH endonuclease that targets mismatch repair excision only binds clamped EcMutL, increasing its DNA association kinetics by more than 1,000-fold. The assembly of an EcMutS-EcMutL-EcMutH search complex illustrates how sequential stable sliding clamps can modulate one-dimensional diffusion mechanics along the DNA to direct mismatch repair.

  8. Optimal tracking and second order sliding power control of the DFIG wind turbine

    NASA Astrophysics Data System (ADS)

    Abdeddaim, S.; Betka, A.; Charrouf, O.

    2017-02-01

    In the present paper, an optimal operation of a grid-connected variable speed wind turbine equipped with a Doubly Fed Induction Generator (DFIG) is presented. The proposed cascaded nonlinear controller is designed to perform two main objectives. In the outer loop, a maximum power point tracking (MPPT) algorithm based on fuzzy logic theory is designed to permanently extract the optimal aerodynamic energy, whereas in the inner loop, a second order sliding mode control (2-SM) is applied to achieve smooth regulation of both stator active and reactive powers quantities. The obtained simulation results show a permanent track of the MPP point regardless of the turbine power-speed slope moreover the proposed sliding mode control strategy presents attractive features such as chattering-free, compared to the conventional first order sliding technique (1-SM).

  9. Active/passive mode-locked laser oscillator

    DOEpatents

    Fountain, William D.; Johnson, Bertram C.

    1977-01-01

    A Q-switched/mode-locked Nd:YAG laser oscillator employing simultaneous active (electro-optic) and passive (saturable absorber) loss modulation within the optical cavity is described. This "dual modulation" oscillator can produce transform-limited pulses of duration ranging from about 30 psec to about 5 nsec with greatly improved stability compared to other mode-locked systems. The pulses produced by this system lack intrapulse frequency or amplitude modulation, and hence are idealy suited for amplification to high energies and for other applications where well-defined pulses are required. Also, the pulses of this system have excellent interpulse characteristics, wherein the optical noise between the individual pulses of the pulse train has a power level well below the power of the peak pulse of the train.

  10. Active flat optics using a guided mode resonance.

    PubMed

    Kim, Soo Jin; Brongersma, Mark L

    2017-01-01

    Dynamically-controlled flat optics relies on achieving active and effective control over light-matter interaction in ultrathin layers. A variety of metasurface designs have achieved efficient amplitude and phase modulation. Particularly, noteworthy progress has been made with the incorporation of newly emerging electro-optical materials into such metasurfaces, including graphene, phase change materials, and transparent conductive oxides. In this Letter, we demonstrate dynamic light-matter interaction in a silicon-based subwavelength grating that supports a guided mode resonance. By overcoating the grating with indium tin oxide as an electrically tunable material, its reflectance can be tuned from 4% to 86%. Guided mode resonances naturally afford higher optical quality factors than the optical antennas used in the construction of metasurfaces. As such, they facilitate more effective control over the flow of light within the same layer thickness.

  11. Slide Activity along the eastern slope of the Gela Basin (offshore Sicily): First results from expedition MSM-15/3

    NASA Astrophysics Data System (ADS)

    Huhn, K.; Strasser, M.; Freudenthal, T.; Foglini, F.; Trincardi, F.; Minisini, D.; Msm15/3 Working Group

    2010-12-01

    Submarine slides occur at all sediment bearing margins worldwide (Camerlenghi et al., 2009; Masson et al., 2006). Although numerous studies have dealt with mapping and monitoring of submarine landslide as well as investigations of trigger mechanisms and sediment failure processes, many open questions persist why a given slope fails whereas adjacent remains stable. Besides large slide events, smaller scaled mid-size slides became recently of particular importance because especially these local slides enable investigation of physical and kinematical processes during failure and to test a wide range of different trigger mechanisms. Hence, during the research expedition MSM15/3 we drilled two distinct landslides in the Gela Basin offshore south of Sicily (Italy) utilizing the MARUM sea floor drill rig (MeBo). These so-called ‘Twin Slides’ have previously been identified in water depth between 200 - 800m on the basis of side-scan sonar, Chirp seismics, swath bathymetry and shallow core data. Besides, these landslides are described as multiple failures likely controlled by specific stratigraphic surfaces acting as glide planes (Minisini et al., 2007; Minisini and Trincardi, 2009). Nevertheless, failure planes are located in depth inaccessible by conventional coring and we therefore lack groundtruthing of the geophysical data. Therefore, MeBo was deployed to drill e.g. critical subsurface intervals. A systematic MeBo drilling transect from the undisturbed slope apron to the depositional area of these landslide masses recovers up to 55 meter long cores, including the failure planes and stacked mass transport deposits in the proximal and distal areas, respectively. Sedimentological, geochemical, geophysical and geotechnical analysis of these core materials will enable (1) an age dating and estimation of the recurrence rate of mid-sized slide events and (2) a sediment physical characterization to gain a deeper insight into kinematics and physical processes during failure

  12. Designing Good Slides. Revised.

    ERIC Educational Resources Information Center

    Center for Disease Control (DHEW/PHS), Atlanta, GA.

    This guide is designed to help those who want to illustrate material in a formal presentation using 35mm double-frame slides, and it is also useful as a guide for teaching students how to work with slides. The guide provides a step-by-step procedure for each format. For instance, those who want to design a slide with copy only would go through a…

  13. Environmental stability of actively mode locked fibre lasers

    NASA Astrophysics Data System (ADS)

    Hill, Calum H.; Lee, Stephen T.; Reid, Derryck T.; Baili, Ghaya; Davies, John

    2016-10-01

    Lasers developed for defence related applications typically encounter issues with reliability and meeting desired specification when taken from the lab to the product line. In particular the harsh environmental conditions a laser has to endure can lead to difficulties. This paper examines a specific class of laser, namely actively mode-locked fibre lasers (AMLFLs), and discusses the impact of environmental perturbations. Theoretical and experimental results have assisted in developing techniques to improve the stability of a mode-locked pulse train for continuous operation. Many of the lessons learned in this research are applicable to a much broader category of lasers. The AMLFL consists of a fibre ring cavity containing a semiconductor optical amplifier (SOA), an isolator, an output coupler, a circulator, a bandpass filter and a modulator. The laser produces a train of 6-ps pulses at 800 nm with a repetition rate in the GHz regime and a low-noise profile. This performance is realisable in a laboratory environment. However, even small changes in temperature on the order of 0.1 °C can cause a collapse of mode-locked dynamics such that the required stability cannot be achieved without suitable feedback. Investigations into the root causes of this failure were performed by changing the temperature of components that constitute the laser resonator and observing their properties. Several different feedback mechanisms have been investigated to improve laser stability in an environment with dynamic temperature changes. Active cavity length control will be discussed along with DC bias control of the Mach-Zehnder modulator (MZM).

  14. Herbaceous Ornamental Plants. Slide Script.

    ERIC Educational Resources Information Center

    Still, Steven

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

  15. Mailing microscope slides

    Technology Transfer Automated Retrieval System (TEKTRAN)

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

  16. Platelet Serotonin Transporter Function Predicts Default-Mode Network Activity

    PubMed Central

    Kasess, Christian H.; Meyer, Bernhard M.; Hofmaier, Tina; Diers, Kersten; Bartova, Lucie; Pail, Gerald; Huf, Wolfgang; Uzelac, Zeljko; Hartinger, Beate; Kalcher, Klaudius; Perkmann, Thomas; Haslacher, Helmuth; Meyer-Lindenberg, Andreas; Kasper, Siegfried; Freissmuth, Michael; Windischberger, Christian; Willeit, Matthäus; Lanzenberger, Rupert; Esterbauer, Harald; Brocke, Burkhard; Moser, Ewald; Sitte, Harald H.; Pezawas, Lukas

    2014-01-01

    Background The serotonin transporter (5-HTT) is abundantly expressed in humans by the serotonin transporter gene SLC6A4 and removes serotonin (5-HT) from extracellular space. A blood-brain relationship between platelet and synaptosomal 5-HT reuptake has been suggested, but it is unknown today, if platelet 5-HT uptake can predict neural activation of human brain networks that are known to be under serotonergic influence. Methods A functional magnetic resonance study was performed in 48 healthy subjects and maximal 5-HT uptake velocity (Vmax) was assessed in blood platelets. We used a mixed-effects multilevel analysis technique (MEMA) to test for linear relationships between whole-brain, blood-oxygen-level dependent (BOLD) activity and platelet Vmax. Results The present study demonstrates that increases in platelet Vmax significantly predict default-mode network (DMN) suppression in healthy subjects independent of genetic variation within SLC6A4. Furthermore, functional connectivity analyses indicate that platelet Vmax is related to global DMN activation and not intrinsic DMN connectivity. Conclusion This study provides evidence that platelet Vmax predicts global DMN activation changes in healthy subjects. Given previous reports on platelet-synaptosomal Vmax coupling, results further suggest an important role of neuronal 5-HT reuptake in DMN regulation. PMID:24667541

  17. Diagnostic for two-mode variable valve activation device

    SciTech Connect

    Fedewa, Andrew M

    2014-01-07

    A method is provided for diagnosing a multi-mode valve train device which selectively provides high lift and low lift to a combustion valve of an internal combustion engine having a camshaft phaser actuated by an electric motor. The method includes applying a variable electric current to the electric motor to achieve a desired camshaft phaser operational mode and commanding the multi-mode valve train device to a desired valve train device operational mode selected from a high lift mode and a low lift mode. The method also includes monitoring the variable electric current and calculating a first characteristic of the parameter. The method also includes comparing the calculated first characteristic against a predetermined value of the first characteristic measured when the multi-mode valve train device is known to be in the desired valve train device operational mode.

  18. Default-mode-like network activation in awake rodents.

    PubMed

    Upadhyay, Jaymin; Baker, Scott J; Chandran, Prasant; Miller, Loan; Lee, Younglim; Marek, Gerard J; Sakoglu, Unal; Chin, Chih-Liang; Luo, Feng; Fox, Gerard B; Day, Mark

    2011-01-01

    During wakefulness and in absence of performing tasks or sensory processing, the default-mode network (DMN), an intrinsic central nervous system (CNS) network, is in an active state. Non-human primate and human CNS imaging studies have identified the DMN in these two species. Clinical imaging studies have shown that the pattern of activity within the DMN is often modulated in various disease states (e.g., Alzheimer's, schizophrenia or chronic pain). However, whether the DMN exists in awake rodents has not been characterized. The current data provides evidence that awake rodents also possess 'DMN-like' functional connectivity, but only subsequent to habituation to what is initially a novel magnetic resonance imaging (MRI) environment as well as physical restraint. Specifically, the habituation process spanned across four separate scanning sessions (Day 2, 4, 6 and 8). At Day 8, significant (p<0.05) functional connectivity was observed amongst structures such as the anterior cingulate (seed region), retrosplenial, parietal, and hippocampal cortices. Prior to habituation (Day 2), functional connectivity was only detected (p<0.05) amongst CNS structures known to mediate anxiety (i.e., anterior cingulate (seed region), posterior hypothalamic area, amygdala and parabracial nucleus). In relating functional connectivity between cingulate-default-mode and cingulate-anxiety structures across Days 2-8, a significant inverse relationship (r = -0.65, p = 0.0004) was observed between these two functional interactions such that increased cingulate-DMN connectivity corresponded to decreased cingulate anxiety network connectivity. This investigation demonstrates that the cingulate is an important component of both the rodent DMN-like and anxiety networks.

  19. Design for slides.

    PubMed

    Johns, M

    1995-09-01

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

  20. Prototype Slide Stainer

    NASA Technical Reports Server (NTRS)

    1971-01-01

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

  1. Active noise control using a distributed mode flat panel loudspeaker.

    PubMed

    Zhu, H; Rajamani, R; Dudney, J; Stelson, K A

    2003-07-01

    A flat panel distributed mode loudspeaker (DML) has many advantages over traditional cone speakers in terms of its weight, size, and durability. However, its frequency response is uneven and complex, thus bringing its suitability for active noise control (ANC) under question. This paper presents experimental results demonstrating the effective use of panel DML speakers in an ANC application. Both feedback and feedforward control techniques are considered. Effective feedback control with a flat panel speaker could open up a whole range of new noise control applications and has many advantages over feedforward control. The paper develops a new control algorithm to attenuate tonal noise of a known frequency by feedback control. However, due to the uneven response of the speakers, feedback control is found to be only moderately effective even for this narrow-band application. Feedforward control proves to be most capable for the flat panel speaker. Using feedforward control, the sound pressure level can be significantly reduced in close proximity to an error microphone. The paper demonstrates an interesting application of the flat panel in which the panel is placed in the path of sound and effectively used to block sound transmission using feedforward control. This is a new approach to active noise control enabled by the use of flat panels and can be used to prevent sound from entering into an enclosure in the first place rather than the traditional approach of attempting to cancel sound after it enters the enclosure.

  2. Mode of antibacterial activity of Eclalbasaponin isolated from Eclipta alba.

    PubMed

    Ray, A; Bharali, P; Konwar, B K

    2013-12-01

    The present study was undertaken to evaluate the mode of antibacterial activity of Eclalbasaponin isolated from Eclipta alba, against selected Gram-positive and Gram-negative bacteria. The probable chemical structure was determined by using various spectroscopic techniques such as Fourier transform infrared spectroscopy (FTIR) and mass spectroscopy. The antibacterial activity was evaluated by well diffusion technique, pH sensitivity, chemotaxis, and crystal violet assays. Eclalbasaponin showed clear zone of inhibition against both Bacillus subtilis and Pseudomonas aeruginosa and exhibited growth inhibition at the pH range of 5.5-9.0. The isolated saponin exhibited its positive chemoattractant property for both bacterial strains. Results of crystal violet assay and the presence of UV-sensitive materials in the cell-free supernatant confirmed the cellular damages caused by the treatment of Eclalbasaponin. The release of intracellular proteins due to the membrane damage was determined by sodium dodecyl sulfate polyacrylamide gel electrophoresis. Changes in the cell surface structure and membrane disruption were further revealed by FTIR and scanning electron microscopy analysis. The present study suggests that the isolated saponin from E. alba causes the disruption of the bacterial cell membrane which leads to the loss of bacterial cell viability.

  3. Selected Landscape Plants. Slide Script.

    ERIC Educational Resources Information Center

    McCann, Kevin

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

  4. Fundamentals of the Slide Library.

    ERIC Educational Resources Information Center

    Boerner, Susan Zee

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

  5. Ornamental Landscape Grasses. Slide Script.

    ERIC Educational Resources Information Center

    Still, Steven M.; Adams, Denise W.

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

  6. Stable, Robust Tracking by Sliding Mode Control,

    DTIC Science & Technology

    1987-05-01

    Linear Systems , Prentice-Hall, 1980. 9. O.M.E. El-Ghesawi, S.A. Billings and A.S.I. Zinober, Variable structure systems and system zeros, Proc. IEE...82, January 1987. 7. G.C. Verghese and T. Kailath, Rational matrix structure, IEEE Trans. Auto. Control, AC-26, 434-438, April 1981. 8. T. Kailath

  7. Plastic strain arrangement in copper single crystals in sliding

    SciTech Connect

    Chumaevskii, Andrey V. Lychagin, Dmitry V.; Tarasov, Sergei Yu.

    2014-11-14

    Deformation of tribologically loaded contact zone is one of the wear mechanisms in spite of the fact that no mass loss may occur during this process. Generation of optimal crystallographic orientations of the grains in a polycrystalline materials (texturing) may cause hardening and reducing the deformation wear. To reveal the orientation dependence of an individual gain and simplify the task we use copper single crystals with the orientations of the compression axis along [111] and [110]. The plastic deformation was investigated by means of optical, scanning electron microscopy and EBSD techniques. It was established that at least four different zones were generated in the course of sliding test, such as non-deformed base metal, plastic deformation layer sliding, crystalline lattice reorientation layer and subsurface grain structure layer. The maximum plastic strain penetration depth was observed on [110]-single crystals. The minimum stability of [111]-crystals with respect to rotation deformation mode as well as activation of shear in the sliding contact plane provide for rotation deformation localization below the worn surface. The high-rate accumulation of misorientations and less strain penetration depth was observed on [111]-crystals as compared to those of [110]-oriented ones.

  8. Batch Mode Active Learning for Regression With Expected Model Change.

    PubMed

    Cai, Wenbin; Zhang, Muhan; Zhang, Ya

    2016-04-20

    While active learning (AL) has been widely studied for classification problems, limited efforts have been done on AL for regression. In this paper, we introduce a new AL framework for regression, expected model change maximization (EMCM), which aims at choosing the unlabeled data instances that result in the maximum change of the current model once labeled. The model change is quantified as the difference between the current model parameters and the updated parameters after the inclusion of the newly selected examples. In light of the stochastic gradient descent learning rule, we approximate the change as the gradient of the loss function with respect to each single candidate instance. Under the EMCM framework, we propose novel AL algorithms for the linear and nonlinear regression models. In addition, by simulating the behavior of the sequential AL policy when applied for k iterations, we further extend the algorithms to batch mode AL to simultaneously choose a set of k most informative instances at each query time. Extensive experimental results on both UCI and StatLib benchmark data sets have demonstrated that the proposed algorithms are highly effective and efficient.

  9. Dynamic Sliding Analysis of a Gravity Dam with Fluid-Structure-Foundation Interaction Using Finite Elements and Newmark's Sliding Block Analysis

    NASA Astrophysics Data System (ADS)

    Goldgruber, Markus; Shahriari, Shervin; Zenz, Gerald

    2015-11-01

    To reduce the natural hazard risks—due to, e.g., earthquake excitation—seismic safety assessments are carried out. Especially under severe loading, due to maximum credible or the so-called safety evaluation earthquake, critical infrastructure, as these are high dams, must not fail. However, under high loading local failure might be allowed as long as the entire structure does not collapse. Hence, for a dam, the loss of sliding stability during a short time period might be acceptable if the cumulative displacements after an event are below an acceptable value. This performance is not only valid for gravity dams but also for rock blocks as sliding is even more imminent in zones with higher seismic activity. Sliding modes cannot only occur in the dam-foundation contact, but also in sliding planes formed due to geological conditions. This work compares the qualitative possible and critical displacements for two methods, the well-known Newmark's sliding block analysis and a Fluid-Foundation-Structure Interaction simulation with the finite elements method. The results comparison of the maximum displacements at the end of the seismic event of the two methods depicts that for high friction angles, they are fairly close. For low friction angles, the results are differing more. The conclusion is that the commonly used Newmark's sliding block analysis and the finite elements simulation are only comparable for high friction angles, where this factor dominates the behaviour of the structure. Worth to mention is that the proposed simulation methods are also applicable to dynamic rock wedge problems and not only to dams.

  10. Slowing the Summer Slide

    ERIC Educational Resources Information Center

    Smith, Lorna

    2012-01-01

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

  11. Black and White Slides.

    ERIC Educational Resources Information Center

    Tanner, Jackie

    1979-01-01

    Outlines procedures for using some photographic techniques to start a black and white slide collection. Instructions are given for: (1) necessary equipment and materials; (2) photographing images such as photos, charts or drawings; (3) developing the film; and (4) setting up the filing system. Photographs and drawings illustrate the process. (AMH)

  12. Development of magnetically preloaded air bearings for a linear slide: active compensation of three degrees of freedom motion errors.

    PubMed

    Ro, Seung-Kook; Kim, Soohyun; Kwak, Yoonkeun; Park, Chun-Hong

    2008-03-01

    This article describes a linear air-bearing stage that uses active control to compensate for its motion errors. The active control is based on preloads generated by magnetic actuators, which were designed to generate nominal preloads for the air bearings using permanent magnets to maintain the desired stiffness while changing the air-bearing clearance by varying the magnetic flux generated by the current in electromagnetic coils. A single-axis linear stage with a linear motor and 240 mm of travel range was built to verify this design concept and used to test its performance. The motion of the table in three directions was controlled with four magnetic actuators driven by current amplifiers and a DSP (Digital Signal Processor)-based digital controller. The motion errors were measured using a laser interferometer combined with a two-probe method, and had 0.085 microm of repeatability for the straightness error. As a result of feed-forward active compensation, the errors were reduced from 1.09 to 0.11 microm for the vertical motion, from 9.42 to 0.18 arcsec for the pitch motion, and from 2.42 to 0.18 arcsec for the roll motion.

  13. Segmentation of follicular regions on H&E slides using a matching filter and active contour model

    NASA Astrophysics Data System (ADS)

    Belkacem-Boussaid, Kamel; Prescott, Jeffrey; Lozanski, Gerard; Gurcan, Metin N.

    2010-03-01

    Follicular Lymphoma (FL) accounts for 20-25% of non-Hodgkin lymphomas in the United States. The first step in follicular lymphoma grading is the identification of follicles. The goal of this paper is to develop a technique to segment follicular regions in H&E stained images. The method is based on a robust active contour model, which is initialized by a seed point selected inside the follicle manually by the user. The novel aspect of this method is the introduction of a matched filter for the flattening of background in the L channel of the Lab color space. The performance of the algorithm was tested by comparing it against the manual segmentations of trained readers using the Zijbendos similarity index. The mean accuracy of the final segmentation compared to the manual ground truth was 0.71 with a standard deviation of 0.12.

  14. Preparing Slide Presentations on Computers.

    ERIC Educational Resources Information Center

    Elberfeld, John K.

    1982-01-01

    Suggest use of well-organized slide presentation as effective way to introduce computers to large audiences and discusses how to get started--state objective, analyze audience, outline presentation, prepare slides--and equipment needed to obtain slides from television screens, miniature components, and book illustrations. References and sources…

  15. Sliding Luttinger liquid phases

    NASA Astrophysics Data System (ADS)

    Mukhopadhyay, Ranjan; Kane, C. L.; Lubensky, T. C.

    2001-07-01

    We study systems of coupled spin-gapped and gapless Luttinger liquids. First, we establish the existence of a sliding Luttinger liquid phase for a system of weakly coupled parallel quantum wires, with and without disorder. It is shown that the coupling can stabilize a Luttinger liquid phase in the presence of disorder. We then extend our analysis to a system of crossed Luttinger liquids and establish the stability of a non-Fermi-liquid state: the crossed sliding Luttinger liquid phase. In this phase the system exhibits a finite-temperature, long-wavelength, isotropic electric conductivity that diverges as a power law in temperature T as T-->0. This two-dimensional system has many properties of a true isotropic Luttinger liquid, though at zero temperature it becomes anisotropic. An extension of this model to a three-dimensional stack exhibits a much higher in-plane conductivity than the conductivity in a perpendicular direction.

  16. New improved reconstruction of solar activity over 3 millennia: Evidence for distinct solar dynamo modes

    NASA Astrophysics Data System (ADS)

    Usoskin, Ilya; Kovaltsov, Gennady; Hulot, Gauthier.; Gallet, Yves; Roth, Raphael; Licht, Alexis; Joos, Fortunat; Th, E.; Khokhlov, A.; Kovaltsov, Gennady A.

    The solar magnetic dynamo can operate in distinct modes - a main general mode, a Grand minimum mode corresponding to an inactive Sun, and a possible Grand maximum mode corresponding to an unusually active Sun, as e.g., observed recently. The reality of such mode separation has recently been the subject of much debate, with different theoretical speculations discussed. Here we present the first adjustment-free physical reconstruction of solar activity over the past three millennia, using the latest carbon cycle, (14) C production and archeomagnetic field models. This new improved reconstruction shows that the solar dynamo process indeed switches between different modes, either corresponding to different regimes of the dynamo or to changes in the driving parameters. These results provide important constraints for both dynamo models of Sun-like stars and investigations of possible solar influence on Earth’s climate.

  17. Reducing slide sheet injury.

    PubMed

    Varcin-Coad, Lynn

    2008-12-01

    Slide sheets are often stated to be the cause of hand and forearm injuries. While there are many other possible reasons injuries to nursing staff, carer and client occur, the most important linking factors relating to musculoskeletal disorders and manual handling of people is the ongoing inappropriateness or lack of suitably designed and equipped work areas. As physiotherapist Lynn Varcin-Coad writes, staff are bearing the brunt of inefficiencies of design and lack of high order risk control.

  18. External kink modes as a model for MHD activity associated with ELMs

    SciTech Connect

    Manickam, J.

    1992-01-01

    Tokamak plasmas in the high confinement mode of operation are known to exhibit edge localized activity referred to as ELMs. A model is proposed for the underlying cause in terms of the external kink mode. The build up of the current density near the plasma edge is shown to decrease the shear in the safety-factor, q, profile and lead to destabilization of the kink mode. The role of the plasma geometry and equilibrium profiles is discussed.

  19. Slide system for machine tools

    DOEpatents

    Douglass, Spivey S.; Green, Walter L.

    1982-01-01

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

  20. Slide system for machine tools

    DOEpatents

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

    1980-06-12

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

  1. Sliding regimes on slow manifolds of systems with fast actuators

    NASA Technical Reports Server (NTRS)

    Sira-Ramirez, Hebertt; Dwyer, Thomas A. W., III

    1987-01-01

    In this article the slow manifold of a system with actuator parasitics is used as a sliding surface on which a Variable Structure Controller recovers the qualitative properties of the reduced order, closed loop system obtained from an ideal actuator-based feedback controller design. Illustrative examples are presented, where (1) the simplicity of reduced order singular perturbation design methods; and (2) the robustness of Variable Structure sliding modes, are advantageously combined.

  2. Fuzzy-logic-based hybrid locomotion mode classification for an active pelvis orthosis: Preliminary results.

    PubMed

    Yuan, Kebin; Parri, Andrea; Yan, Tingfang; Wang, Long; Munih, Marko; Vitiello, Nicola; Wang, Qining

    2015-01-01

    In this paper, we present a fuzzy-logic-based hybrid locomotion mode classification method for an active pelvis orthosis. Locomotion information measured by the onboard hip joint angle sensors and the pressure insoles is used to classify five locomotion modes, including two static modes (sitting, standing still), and three dynamic modes (level-ground walking, ascending stairs, and descending stairs). The proposed method classifies these two kinds of modes first by monitoring the variation of the relative hip joint angle between the two legs within a specific period. Static states are then classified by the time-based absolute hip joint angle. As for dynamic modes, a fuzzy-logic based method is proposed for the classification. Preliminary experimental results with three able-bodied subjects achieve an off-line classification accuracy higher than 99.49%.

  3. Computer Control of a Random Access Slide Projector.

    ERIC Educational Resources Information Center

    Barker, Philip G.

    1982-01-01

    A description of a simple interface to enable the interconnection of a random access slide projector and a microcomputer is provided, as well as summaries of the role of slide images as a means of implementing graphic communication and the new activity in graphics as an area of information processing. The microcomputer interface is then detailed,…

  4. 2.6 W diode-pumped actively mode-locked Tm:YLF laser

    NASA Astrophysics Data System (ADS)

    Mužík, J.; Jelínek, M., Jr.; Vyhlídal, D.; Kubeček, V.

    2015-03-01

    We have experimentally demonstrated an actively mode-locked laser with a Tm3+-doped yttrium lithium fluoride crystal (YLF). A continuous mode-locked regime was achieved using an acousto-optic modulator and a stable train of pulses with 149.3 MHz repetition rate, 170 ps pulse width and 2.6 W average output power at 1.91 µm in a nearly diffraction-limited beam was obtained. To the best of our knowledge, this is the first report on a diode-pumped actively mode-locked bulk thulium laser with a stable output.

  5. Gravity Slides With Magnetic Braking

    NASA Technical Reports Server (NTRS)

    Goodrick, Thomas F.

    1995-01-01

    Slides with magnetic braking enable safe emergency descent from tall buildings, fire-truck ladders, towers, and like. According to concept, slide includes sled that moves along stationary aluminum track tilted against top of building. Sled holds set of permanent magnets at preset small distance from surface of track. Passenger stands on, sits on, or strapped to platform on sled. Release device at top of slide holds sled in place until passenger prepared for descent.

  6. Tempo and Mode of Transposable Element Activity in Drosophila

    PubMed Central

    Kofler, Robert; Nolte, Viola; Schlötterer, Christian

    2015-01-01

    The evolutionary dynamics of transposable element (TE) insertions have been of continued interest since TE activity has important implications for genome evolution and adaptation. Here, we infer the transposition dynamics of TEs by comparing their abundance in natural D. melanogaster and D. simulans populations. Sequencing pools of more than 550 South African flies to at least 320-fold coverage, we determined the genome wide TE insertion frequencies in both species. We suggest that the predominance of low frequency insertions in the two species (>80% of the insertions have a frequency <0.2) is probably due to a high activity of more than 58 families in both species. We provide evidence for 50% of the TE families having temporally heterogenous transposition rates with different TE families being affected in the two species. While in D. melanogaster retrotransposons were more active, DNA transposons showed higher activity levels in D. simulans. Moreover, we suggest that LTR insertions are mostly of recent origin in both species, while DNA and non-LTR insertions are older and more frequently vertically transmitted since the split of D. melanogaster and D. simulans. We propose that the high TE activity is of recent origin in both species and a consequence of the demographic history, with habitat expansion triggering a period of rapid evolution. PMID:26186437

  7. Doubly active Q switching and mode locking of an all-fiber laser.

    PubMed

    Cuadrado-Laborde, Christian; Díez, Antonio; Cruz, Jose L; Andrés, Miguel V

    2009-09-15

    Simultaneous and independent active Q switching and active mode locking of an erbium-doped fiber laser is demonstrated using all-fiber modulation techniques. A magnetostrictive rod attached to the output fiber Bragg grating modulates the Q factor of the Fabry-Perot cavity, whereas active mode locking is achieved by amplitude modulation with a Bragg-grating-based acousto-optic device. Fully modulated Q-switched mode-locked trains of optical pulses were obtained for a wide range of pump powers and repetition rates. For a Q-switched repetition rate of 500 Hz and a pump power of 100 mW, the laser generates trains of 12-14 mode-locked pulses of about 1 ns each, within an envelope of 550 ns, an overall energy of 0.65 microJ, and a peak power higher than 250 W for the central pulses of the train.

  8. Section 608 Rule Presentation Slides

    EPA Pesticide Factsheets

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

  9. Design and control of a prosthetic leg for above-knee amputees operated in semi-active and active modes

    NASA Astrophysics Data System (ADS)

    Park, Jinhyuk; Yoon, Gun-Ha; Kang, Je-Won; Choi, Seung-Bok

    2016-08-01

    This paper proposes a new prosthesis operated in two different modes; the semi-active and active modes. The semi-active mode is achieved from a flow mode magneto-rheological (MR) damper, while the active mode is obtained from an electronically commutated (EC) motor. The knee joint part of the above knee prosthesis is equipped with the MR damper and EC motor. The MR damper generates reaction force by controlling the field-dependent yield stress of the MR fluid, while the EC motor actively controls the knee joint angle during gait cycle. In this work, the MR damper is designed as a two-end type flow mode mechanism without air chamber for compact size. On other hand, in order to predict desired knee joint angle to be controlled by EC motor, a polynomial prediction function using a statistical method is used. A nonlinear proportional-derivative controller integrated with the computed torque method is then designed and applied to both MR damper and EC motor to control the knee joint angle. It is demonstrated that the desired knee joint angle is well achieved in different walking velocities on the ground ground.

  10. Active mode locking of quantum cascade lasers in an external ring cavity

    PubMed Central

    Revin, D. G.; Hemingway, M.; Wang, Y.; Cockburn, J. W.; Belyanin, A.

    2016-01-01

    Stable ultrashort light pulses and frequency combs generated by mode-locked lasers have many important applications including high-resolution spectroscopy, fast chemical detection and identification, studies of ultrafast processes, and laser metrology. While compact mode-locked lasers emitting in the visible and near infrared range have revolutionized photonic technologies, the systems operating in the mid-infrared range where most gases have their strong absorption lines, are bulky and expensive and rely on nonlinear frequency down-conversion. Quantum cascade lasers are the most powerful and versatile compact light sources in the mid-infrared range, yet achieving their mode-locked operation remains a challenge, despite dedicated effort. Here we report the demonstration of active mode locking of an external-cavity quantum cascade laser. The laser operates in the mode-locked regime at room temperature and over the full dynamic range of injection currents. PMID:27147409

  11. Sliding valve pump

    SciTech Connect

    Rupert, C.L.

    1980-09-09

    A sliding valve pump for oil wells which includes a working barrel having a plurality of apertures located in spaced relationship in the wall thereof and a pair of travelling valves fitted within the working barrel and carried by a plunger rod, the valves also having a plurality of apertures or ports for periodic registration with the ports in the working barrel wall to facilitate pumping of fluid from an oil reservoir or pool to the surface. The pump is designed to pull the oil-gas mixture from the reservoir pool into the lower section of the working barrel on the downward stroke, and to subsequently pump the collected oil through the barrel and tubing upwardly toward the surface on the upward stroke.

  12. Thickness mode EMIS of constrained proof-mass piezoelectric wafer active sensors

    NASA Astrophysics Data System (ADS)

    Kamas, Tuncay; Giurgiutiu, Victor; Lin, Bin

    2015-11-01

    This paper addresses theoretical and experimental work on thickness-mode electromechanical (E/M) impedance spectroscopy (EMIS) of proof-mass piezoelectric wafer active sensors (PMPWAS). The proof-mass (PM) concept was used to develop a new method for tuning the ultrasonic wave modes and for relatively high frequency local modal sensing by the PM affixed on PWAS. In order to develop the theoretical basis of the PMPWAS tuning concept, analytical analyses were conducted by applying the resonator theory to derive the EMIS of a PWAS constrained on one and both surfaces by isotropic elastic materials. The normalized thickness-mode shapes were obtained for the normal mode expansion (NME) method to eventually predict the thickness-mode EMIS using the correlation between PMPWAS and the structural dynamic properties of the substrate. Proof-masses of different sizes and materials were used to tune the system resonance towards an optimal frequency point. The results were verified by coupled-field finite element analyses (CF-FEA) and experimental results. An application of the tuning effect of PM on the standing wave modes was discussed as the increase in PM thickness shifts the excitation frequency of the wave mode toward the surface acoustic wave (SAW) mode.

  13. Actively mode-locked fiber ring laser by intermodal acousto-optic modulation.

    PubMed

    Bello-Jiménez, M; Cuadrado-Laborde, C; Sáez-Rodríguez, D; Diez, A; Cruz, J L; Andrés, M V

    2010-11-15

    We report an actively mode-locked fiber ring laser. A simple and low-insertion-loss acousto-optic modulator driven by standing flexural waves, which couples core-to-cladding modes in a standard single-mode optical fiber, is used as an active mechanism for mode locking. Among the remarkable features of the modulator, we mention its high modulation depth (72%), broad bandwidth (187 GHz), easy tunability in the optical wavelength, and low insertion losses (0.7 dB). The narrowest optical pulses obtained were of 95 ps time width, 21 mW peak power, repetition rate of 4.758 MHz, and 110 mW of pump power.

  14. 4-Alkynylphenylsilatranes: Insecticidal activity, mammalian toxicity, and mode of action

    SciTech Connect

    Horsham, M.A.; Palmer, C.J.; Cole, L.M.; Casida, J.E. )

    1990-08-01

    4-Ethynyl- and 4-(prop-1-ynyl)phenylsilatranes (N(CH{sub 2}CH{sub 2}O){sub 3}SiR, R = C{sub 6}H{sub 4}-4-C{triple bond}CH or C{sub 6}H{sub 4}-4-C{triple bond}CCH{sub 3}) are highly toxic to houseflies (pretreated with piperonyl butoxide) and milkweed bugs (topical LD{sub 50}s 3-14 {mu}g/g) and to mice (intraperitoneal LD{sub 50}s 0.4-0.9 mg/kg), and they are moderately potent inhibitors of the ({sup 35}S)-tert-butylbicyclophosphorothionate or TBPS binding site (GABA-gated chloride channel) of mouse brain membranes. Scatchard analysis indicates noncompetitive interaction of 4-ethynylphenylsilatrane with the TBPS binding site. Phenylsilatrane analogues with 4-substituents of H, CH{sub 3}, Cl, Br, and C{triple bond}CSi(CH{sub 3}){sub 3} are highly toxic to mice but have little or no activity in the insect and receptor assays. Radioligand binding studies with (4-{sup 3}H)phenylsilatrane failed to reveal a specific binding site in mouse brain. Silatranes with R = H, CH{sub 3}, CH{sub 2}Cl, CH{double bond}CH{sub 2}, OCH{sub 2}CH{sub 3}, and C{sub 6}H{sub 4}-4-CH{sub 2}CH{sub 3} are of little or no activity in the insect and mouse toxicity and TBPS binding site assays as are the trithia and monocyclic analogues of phenylsilatrane. 4-Alkynylphenylsilatranes are new probes to examine the GABA receptor-ionophore complex of insects and mammals.

  15. Low-degree p-mode parameters evolution with solar activity

    NASA Astrophysics Data System (ADS)

    Lochard, J.; Boumier, P.

    We present updated results on the low-degree p-mode parameters changes with solar activity: frequency, spectral width, rotational splittings and spectral asymmetry. A particular attention is devoted to the l=2 splitting asymmetry. Comparaisons of our frequency shifts (derived from the GOLF observations) with predictions of Pr.Dziembowski (based on an extrapolation from intermediate degree modes observations from MDI), are discussed.

  16. Influence of Activity Mode on Feeling States of High School Physical Education Students

    ERIC Educational Resources Information Center

    Hannon, James C.; Pellet, Tracey L.

    2005-01-01

    The purpose of this study was to determine if changes in positive well-being, psychological distress, fatigue, and enjoyment vary as a function of physical activity mode. Fifty-five senior high school students participated in one of four fitness activities including two defined as traditional (running and step-aerobics) and two defined as…

  17. Digital slide reproduction using densitometry

    NASA Astrophysics Data System (ADS)

    Fornaro, Peter R.; Gschwind, Rudolf; Rosenthaler, Lukas; Laurenson, Pip

    2002-06-01

    Many contemporary art collections contain important art installations where artists have used 35 mm slides as the primary medium. The number of ours these works are on show makes it necessary to regularly change the slides due to light fading. With funding from the Henry Moore Foundation. The conservation department at Tate initiated a project to examine ways in which digital technology could be used to aid the conservation of these works. The aim of the project was to place the original slides in cold storage and explored the possibility of using digital technology to make duplicate sets for display in the gallery. The reproductions needed to be of very high quality both in terms of resolution and color management. This paper discusses the use of densitometry to calibrate both device dependent and device independent systems for digitally reproducing 35 mm slides using a scanner and a film recorder and the effect of metamery when using slide films which employ different dyes.

  18. TAE modes and MHD activity in TFTR DT plasmas

    SciTech Connect

    Fredrickson, E.; Batha, S.; Bell, M.

    1995-03-01

    The high power deuterium and tritium experiments on TFTR have produced fusion a parameters similar to those expected on ITER. The achieved {beta}{sub {alpha}}/{beta} and the R{triangledown}{beta}{sub {alpha}} in TFRR D-T shots are 1/2 to 1/3 those predicted in the ITER EDA. Studies of the initial TFTR D-T plasmas find no evidence that the presence of the fast fusion {alpha} population has affected the stability of MHD, with the possible exception of Toroidal Alfven Eigenmodes (TAE`s). The initial TFTR DT plasmas had MHD activity similar to that commonly seen in deuterium plasmas. Operation of TFTR at plasma currents of 2.0--2.5 MA has greatly reduced the deleterious effects of MHD commonly observed at lower currents. Even at these higher currents, the performance of TFTR is limited by {beta}-limit disruptions. The effects of MHD on D-T fusion {alpha}`s was similar to effects observed on other fusion products in D only plasmas.

  19. Mosquitocidal Activity and Mode of Action of the Isoxazoline Fluralaner

    PubMed Central

    Jiang, Shiyao; Tsikolia, Maia; Bernier, Ulrich R.; Bloomquist, Jeffrey R.

    2017-01-01

    Mosquitoes, such as Aedes aegypti and Anopheles gambiae, are important vectors of human diseases. Fluralaner, a recently introduced parasiticide, was evaluated as a mosquitocide in this study. On Ae. aegypti and An. gambiae fourth-instar larvae, fluralaner had 24-h LC50 (lethal concentration for 50% mortality) values of 1.8 ppb and 0.4 ppb, respectively. Following topical application to adult Ae. aegypti, fluralaner toxicity reached a plateau in about 3 days, with 1- and 3-day LD50 (lethal dose for 50% mortality) values of 1.3 ng/mg and 0.26 ng/mg, suggesting a slowly developing toxicity. Fipronil outperformed fluralaner by up to 100-fold in adult topical, glass contact, and feeding assays on Ae. aegypti. These data show that fluralaner does not have exceptional toxicity to mosquitoes in typical exposure paradigms. In electrophysiological recordings on Drosophila melanogaster larval central nervous system, the effectiveness of fluralaner for restoring nerve firing after gamma-aminobutyric acid (GABA) treatment, a measure of GABA antagonism, was similar in susceptible Oregon-R and cyclodiene-resistant rdl-1675 strains, with EC50 (half maximal effective concentration) values of 0.34 µM and 0.29 µM. Although this finding suggests low cross resistance in the presence of rdl, the moderate potency, low contact activity, and slow action of fluralaner argue against its use as an adult mosquitocide for vector control. PMID:28178191

  20. T-Slide Linear Actuators

    NASA Technical Reports Server (NTRS)

    Vranish, John

    2009-01-01

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

  1. Line copy presentation slides with Kodalith.

    PubMed

    Kraushar, M F; Bailey, B A

    1978-08-01

    Line copy presentation slides with white letters on a blue background can be produced with a two-step process. The slides are more permanent than diazo slides, and the process is faster and less expensive.

  2. A multi-mode sensing system for corrosion detection using piezoelectric wafer active sensors

    NASA Astrophysics Data System (ADS)

    Yu, Lingyu; Giurgiutiu, Victor; Pollock, Patrick

    2008-03-01

    As an emerging technology for in-situ damage detection and nondestructive evaluation, structural health monitoring with active sensors (active SHM) plays as a promising candidate for the pipeline inspection and diagnosis. Piezoelectric wafer active sensor (PWAS), as an active sensing device, can be permanently attached to the structure to interrogate it at will and can operate in propagating wave mode or electromechanical impedance mode. Its small size and low cost (about $10 each) make itself a potential and unique technology for in-situ SHM application. The objective of the research in this paper is to develop a permanently installed in-situ "multi-mode" sensing system for the corrosion monitoring and prediction of critical pipeline systems. Such a system is used during in-service period, recording and monitoring the changes of the pipelines over time, such as corrosion, wall thickness, etc. Having the real-time data available, maintenance strategies based on these data can then be developed to ensure a safe and less expensive operation of the pipeline systems. After a detailed review of PWAS SHM methods, including ultrasonic, impedance, and thickness measurement, we introduce the concept of PWAS-based multi-mode sensing approach for corrosion detection in pipelines. Particularly, we investigate the potential for using PWAS waves for in thickness mode experimentally. Finally, experiments are conducted to verify the corrosion detection ability of the PWAS network in both metallic plate and pipe in a laboratory setting. Results show successful corrosion localization in both tests.

  3. An Airship Slide Rule

    NASA Technical Reports Server (NTRS)

    Weaver, E R; Pickering, S F

    1924-01-01

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

  4. Low-Frequency Mode Activity of Heme: Femtosecond Coherence Spectroscopy of Iron Porphine Halides and Nitrophorin

    PubMed Central

    Kubo, Minoru; Gruia, Flaviu; Benabbas, Abdelkrim; Barabanschikov, Alexander; Montfort, William R.; Maes, Estelle M.; Champion, Paul M.

    2009-01-01

    The low-frequency mode activity of metalloporphyrins has been studied for iron porphine-halides (Fe(P)(X), X = Cl, Br) and nitrophorin 4 (NP4) using femtosecond coherence spectroscopy (FCS) in combination with polarized resonance Raman spectroscopy and density functional theory (DFT). It is confirmed that the mode symmetry selection rules for FCS are the same as for Raman scattering and that both Franck-Condon and Jahn-Teller mode activities are observed for Fe(P)(X) under Soret resonance conditions. The DFT-calculated low-frequency (20-400 cm-1) modes, and their frequency shifts upon halide substitution, are in good agreement with experimental Raman and coherence data, so that mode assignments can be made. The doming mode is located at ~80 cm-1 for Fe(P)(Cl) and at ~60 cm-1 for Fe(P)(Br). NP4 is also studied with coherence techniques, and the NO-bound species of ferric and ferrous NP4 display a mode at ~30-40 cm-1 that is associated with transient heme doming motion following NO photolysis. The coherence spectra of three ferric derivatives of NP4 with different degrees of heme ruffling distortion are also investigated. We find a mode at ~60 cm-1 whose relative intensity in the coherence spectra depends quadratically on the magnitude of the ruffling distortion. To quantitatively account for this correlation, a new “distortion-induced” Raman enhancement mechanism is presented. This mechanism is unique to low-frequency “soft modes” of the molecular framework that can be distorted by environmental forces. These results demonstrate the potential of FCS as a sensitive probe of dynamic and functionally important nonplanar heme vibrational excitations that are induced by the protein environmental forces or by the chemical reactions in the aqueous phase. PMID:18597456

  5. DPS Discovery Slide Sets for the Introductory Astronomy Instructor

    NASA Astrophysics Data System (ADS)

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

    2016-10-01

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

  6. High-wavenumber solar f-mode strengthening prior to active region formation

    NASA Astrophysics Data System (ADS)

    Singh, Nishant; Raichur, Harsha; Brandenburg, Axel

    2016-05-01

    We report a systematic strengthening of the local solar surface mode, i.e. the f-mode, 1-2 days prior to the emergence of an active region (AR) in the same (corotating) location while no indication can yet be seen in the magnetograms. Our study is motivated by earlier numerical findings of Singh et al. (2014) which showed that, in the presence of a nonuniform magnetic field that is concentrated a few scale heights below the surface, the f-mode fans out in the diagnostic kΩ diagram at high wavenumbers. Here we explore this possibility using data from the Helioseismic and Magnetic Imager on board the Solar Dynamics Observatory, and show for four ARs 11130, 11158, 11768, and 12051, that at large latitudinal wavenumbers (corresponding to horizontal scales of around 3000 km), the f-mode displays strengthening about two days prior to AR formation and thus provides a new precursor for AR formation. The idea that the f-mode is perturbed days before any visible magnetic activity occurs on the surface can be important in constraining dynamo models aimed at understanding the global magnetic activity of the Sun.

  7. Sustained activity within the default mode network during an implicit memory task

    PubMed Central

    Yang, Jiongjiong; Weng, Xuchu; Zang, Yufeng; Xu, Mingwei; Xu, Xiaohong

    2009-01-01

    Recent neuroimaging studies have shown that several brain regions -- namely, the posterior cingulate cortex (PCC), ventral medial prefrontal cortex (vmPFC), and the bilateral angular gyrus -- are more active during resting states than during cognitive tasks (i.e., default mode network). Although there is evidence showing that the default mode network is associated with unconscious state, it is unclear whether this network is associated with unconscious processing when normal human subjects perform tasks without awareness. We manipulated the level of conscious processing in normal subjects by asking them to perform an implicit and an explicit memory task, and analyzed signal changes in the default mode network for the stimuli versus baseline in both tasks. The fMRI analysis showed that the level of activation in regions within this network during the implicit task was not significantly different from that during the baseline, except in the left angular gyrus and the insula. There was strong deactivation for the explicit task when compared with the implicit task in the default mode regions, except in the left angular gyrus and the left middle temporal gyrus. These data suggest that the activity in the default network is sustained and less disrupted when an implicit memory task is performed, but is suspended when explicit retrieval is required. These results provide evidence that the default mode network is associated with unconscious processing when human subjects perform an implicit memory task. PMID:19552900

  8. Monitoring studies of slide system under the action of seismic impacts

    NASA Astrophysics Data System (ADS)

    Frolov, Anton

    2013-04-01

    The immediate detection of landslide activity that is provided by real-time systems can be crucial in saving human lives and protecting property. Traditional field observations, even if taken regularly, cannot detect changes at the moment they occur. Moreover, active landslides can be hazardous to work on, and large movements often occur during storms when visibility is poor. The continuous data provided by remote real-time monitoring permits a better understanding of dynamic landslide behavior that, in turn, enables engineers to create more effective designs to prevent or halt landslides. Monitoring of the coastal zone involves the following block diagram: input - processing -output - feed-back. We feed the input with data on a studied technogenous loading on the coastal zone, and the input presents the analysis of motion of a geological medium and the subsequent forecast of evolution of its lithodynamic characteristics. The submitted report describes a practical system of monitoring for the Central Livadiya Slide System (CLSSC) of the Crimea, which is intended for the diagnostics of a lithodynamic situation in the real-time mode, conducting the data base on heliogenous and lithogenous parameters, and predicting a future state of the slide-containing system. In the system of monitoring of a state of CLSSC, which is realized on a computer, the registered heliogenous parameters include the level of solar activity, changes in temperature and moisture regimes, changes in the character and intensity of precipitations, the wind velocity, etc. In this case, data are introduced into the computer in the manual mode. Lithogenous parameters are presented by a collection of conditions and factors characterizing the mechanism and dynamics of changes in the equilibrium state of slopes of CLSSC. The control over the evolution of lithogenous parameters is realized in the following way: 1. The control over movement of the control points on the surface of active slides is carried

  9. Optimal sliding guidance algorithm for Mars powered descent phase

    NASA Astrophysics Data System (ADS)

    Wibben, Daniel R.; Furfaro, Roberto

    2016-02-01

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

  10. Active lower order mode damping for the four rod LHC crab cavity

    NASA Astrophysics Data System (ADS)

    Dexter, A. C.; Burt, G.; Apsimon, R.

    2017-02-01

    The high luminosity upgrade planned for the LHC requires crab cavities to rotate bunches into alignment at the interaction points. They compensate for a crossing angle near 500 μ r ad . It is anticipated that four crab cavities in succession will be utilized to achieve this rotation on either side of each IP in a local crossing scheme. A crab cavity operates in a dipole mode but always has an accelerating mode that may be above or below the frequency of the operating mode. Crab cavities are given couplers to ensure that unwanted acceleration modes are strongly damped however employing standard practice these unwanted modes will always have some level of excitation. Where this excitation has a random phase it might promote bunch growth and limit beam lifetime. This paper sets out a method for active control of the phase and amplitude of the unwanted lowest accelerating mode in the crab cavities. The paper investigates the level of suppression that can be achieved as a function cavity quality factor and proximity to resonance.

  11. Coating for hot sliding seals

    NASA Technical Reports Server (NTRS)

    Stock, J.

    1979-01-01

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

  12. Independent component model of the default-mode brain function: Assessing the impact of active thinking.

    PubMed

    Esposito, Fabrizio; Bertolino, Alessandro; Scarabino, Tommaso; Latorre, Valeria; Blasi, Giuseppe; Popolizio, Teresa; Tedeschi, Gioacchino; Cirillo, Sossio; Goebel, Rainer; Di Salle, Francesco

    2006-10-16

    The "default-mode" network is an ensemble of cortical regions, which are typically deactivated during demanding cognitive tasks in functional magnetic resonance imaging (fMRI) studies. Using functional connectivity, this network can be conceptualized and studied as a "stand-alone" function or system. Regardless of the task, independent component analysis (ICA) produces a picture of the "default-mode" function even when the subject is performing a simple sensori-motor task or just resting in the scanner. This has boosted the use of default-mode fMRI for non-invasive research in brain disorders. Here, we studied the effect of cognitive load modulation of fMRI responses on the ICA-based pictures of the default-mode function. In a standard graded working memory study based on the n-back task, we used group-level ICA to explore the variability of the default-mode network related to the engagement in the task, in 10 healthy volunteers. The analysis of the default-mode components highlighted similarities and differences in the layout under three different cognitive loads. We found a load-related general increase of deactivation in the cortical network. Nonetheless, a variable recruitment of the cingulate regions was evident, with greater extension of the anterior and lesser extension of the posterior clusters when switching from lower to higher working memory loads. A co-activation of the hippocampus was only found under no working memory load. As a generalization of our results, the variability of the default-mode pattern may link the default-mode system as a whole to cognition and may more directly support use of the ICA model for evaluating cognitive decline in brain disorders.

  13. Modes of Engagement in Foreign Language Writing: An Activity Theoretical Perspective

    ERIC Educational Resources Information Center

    Haneda, Mari

    2007-01-01

    This article makes the case for using activity theory to explore the learning and teaching of writing in a foreign language. I illustrate my argument by bringing this theory to bear on a re-examination of the different modes of engagement in writing by university-level students of Japanese as a foreign language that I identified in an earlier…

  14. Active mode locking of a p-Ge hot hole laser

    SciTech Connect

    Hovenier, J.N.; Muravjov, A.V.; Pavlov, S.G.; Shastin, V.N.; Strijbos, R.C.; Wenckebach, W.T.

    1997-07-01

    The generation of 200 picosecond pulses of far-infrared radiation from a p-Ge hot hole laser (50{endash}140 cm{sup {minus}1}) was achieved due to active mode locking by electrical intracavity modulation of the gain. {copyright} {ital 1997 American Institute of Physics.}

  15. X-mode reflectometry for magnetohydrodynamic activity associated with q=1 surface measurements on Tore Supra

    SciTech Connect

    Vermare, L.; Clairet, F.; Gabillet, F.; Sabot, R.; Sirinelli, A.; Heuraux, S.; Leclert, G.

    2004-10-01

    Tore Supra is equipped with two 20 {mu}s fast sweep X-mode reflectometers operating between 50-110 GHz dedicated to density profile determination and an X-mode fixed frequency reflectometer operating between 105-155 GHz for density fluctuation measurements. Heterodyne and sine-cosine detection provide measurements of the reflected signal with high sensitivity. Operating profile reflectometer in burst mode (5 {mu}s dead time between two consecutive sweeps) allows quasi-simultaneous measurements at fixed frequency over a broad frequency band. Thus, information on plasma fluctuations, such as magnetohydrodynamic (MHD) activity, up to 20 kHz as well as a radial localization of the modes is accessible. The temporal evolution of the q=1 rational surface during sawtooth crash activity has been recorded in the plasma center with high spatial resolution. In addition, a direct comparison between signals associated with a central MHD mode from both profile and fluctuation reflectometers, positioned at different toroidal angles, allows one to determine the plasma toroidal velocity.

  16. Different pulse pattern generation by frequency detuning in pulse modulated actively mode-locked ytterbium doped fiber laser

    NASA Astrophysics Data System (ADS)

    Chen, He; Chen, Sheng-Ping; Si, Lei; Zhang, Bin; Jiang, Zong-Fu

    2015-10-01

    We report the results of our recent experimental investigation of the modulation frequency detuning effect on the output pulse dynamics in a pulse modulated actively mode-locked ytterbium doped fiber laser. The experimental study shows the existence of five different mode-locking states that mainly depend on the modulation frequency detuning, which are: (a) amplitude-even harmonic/fundamental mode-locking, (b) Q-switched harmonic/fundamental mode-locking, (c) sinusoidal wave modulation mode, (d) pulses bundle state, and (e) noise-like state. A detailed experimental characterization of the output pulses dynamics in each operating mode is presented.

  17. Blink-related momentary activation of the default mode network while viewing videos.

    PubMed

    Nakano, Tamami; Kato, Makoto; Morito, Yusuke; Itoi, Seishi; Kitazawa, Shigeru

    2013-01-08

    It remains unknown why we generate spontaneous eyeblinks every few seconds, more often than necessary for ocular lubrication. Because eyeblinks tend to occur at implicit breakpoints while viewing videos, we hypothesized that eyeblinks are actively involved in the release of attention. We show that while viewing videos, cortical activity momentarily decreases in the dorsal attention network after blink onset but increases in the default-mode network implicated in internal processing. In contrast, physical blackouts of the video do not elicit such reciprocal changes in brain networks. The results suggest that eyeblinks are actively involved in the process of attentional disengagement during a cognitive behavior by momentarily activating the default-mode network while deactivating the dorsal attention network.

  18. Activated vibrational modes and Fermi resonance in tip-enhanced Raman spectroscopy.

    PubMed

    Sun, Mengtao; Fang, Yurui; Zhang, Zhenyu; Xu, Hongxing

    2013-02-01

    Using p-aminothiophenol (PATP) molecules on a gold substrate and high-vacuum tip-enhanced Raman spectroscopy (HV-TERS), we show that the vibrational spectra of these molecules are distinctly different from those in typical surface-enhanced Raman spectroscopy. Detailed first-principles calculations help to assign the Raman peaks in the TERS measurements as Raman-active and IR-active vibrational modes of dimercaptoazobenzene (DMAB), providing strong spectroscopic evidence for the dimerization of PATP molecules to DMAB under the TERS setup. The activation of the IR-active modes is due to enhanced electromagnetic field gradient effects within the gap region of the highly asymmetric tip-surface geometry. Fermi resonances are also observed in HV-TERS. These findings help to broaden the versatility of TERS as a promising technique for ultrasensitive molecular spectroscopy.

  19. Humboldt slide - A large shear-dominated retrogressive slope failure

    USGS Publications Warehouse

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

    1999-01-01

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

  20. Actively mode-locked fiber laser using acousto-optic modulator

    NASA Astrophysics Data System (ADS)

    Nikodem, Michal P.; Sergeant, Hendrik; Kaczmarek, Pawel; Abramski, Krzysztof M.

    2008-12-01

    In recent years we have observed growing interest in mode-locked fiber lasers. Development of erbium doped fiber (EDF) amplifiers and WDM technique made 3rd telecommunication window extremely interesting region for ultrafast optics. The main advantages of fiber lasers i.e. narrow linewidth and wide gain bandwidth make them very attractive sources in various applications. In this paper we present an actively mode-locked erbium doped fiber ring laser. Modelocking is obtained using an acousto-optic modulator (AOM) coupled into the laser cavity. The impact of different parameters (e.g. light polarization, modulation frequency) is investigated. We study mechanisms of controlling the wavelength of the laser.

  1. Cooperative and submolecular dissipation mechanisms of sliding friction in complex organic systems

    NASA Astrophysics Data System (ADS)

    Knorr, Daniel B.; Gray, Tomoko O.; Overney, René M.

    2008-08-01

    Energy dissipation in single asperity sliding friction was directly linked to submolecular modes of mobility by intrinsic friction analysis, involving time-temperature superposition along with thermodynamic stress and reaction rate models. Thereby, polystyrene served as a representative tribological sample for organic and amorphous complex systems. This study reveals the significance of surface and subsurface (α-, β-, and γ-) relaxational modes, which couple under appropriate external conditions (load, temperature, and rate) with shear induced disturbances, and thus gives rise to material specific frictional dissipation. At low pressures and temperatures below the glass transition point, the phenyl pendant side groups of polystyrene, known for their preferential orientation at the free surface, were noticed to be the primary channel for dissipation of kinetic sliding-energy. While this process was found to be truly enthalpic (activation energy of 8 kcal/mol), energy dissipation was shown to possess both enthalpic and cooperative entropic contributions above the loading capacity of the surface phenyl groups (9.9 kcal/mol) or above the glass transition. Apparent Arrhenius activation energies of frictional dissipation of 22 and 90 kcal/mol, respectively, and cooperative contributions up to 80% were found. As such, this study highlights issues critical to organic lubricant design, i.e., the intrinsic enthalpic activation barriers of mobile linker groups, the evaluation of cooperative mobility phenomena, and critical tribological parameters to access or avoid coupling between shear disturbances and molecular actuators.

  2. Active Noise Control of Low Speed Fan Rotor-Stator Modes

    NASA Technical Reports Server (NTRS)

    Sutliff, Daniel L.; Hu, Ziqiang; Pla, Frederic G.; Heidelberg, Laurence J.

    1996-01-01

    This report describes the Active Noise Cancellation System designed by General Electric and tested in the NASA Lewis Research Center's 48 inch Active Noise Control Fan. The goal of this study was to assess the feasibility of using wall mounted secondary acoustic sources and sensors within the duct of a high bypass turbofan aircraft engine for active noise cancellation of fan tones. The control system is based on a modal control approach. A known acoustic mode propagating in the fan duct is cancelled using an array of flush-mounted compact sound sources. Controller inputs are signals from a shaft encoder and a microphone array which senses the residual acoustic mode in the duct. The canceling modal signal is generated by a modal controller. The key results are that the (6,0) mode was completely eliminated at 920 Hz and substantially reduced elsewhere. The total tone power was reduced 9.4 dB. Farfield 2BPF SPL reductions of 13 dB were obtained. The (4,0) and (4,1) modes were reduced simultaneously yielding a 15 dB modal PWL decrease. Global attenuation of PWL was obtained using an actuator and sensor system totally contained within the duct.

  3. Wavelength-tunable actively mode-locked erbium-doped fiber ring laser using a distributed feedback semiconductor laser as mode locker and tunable filter

    NASA Astrophysics Data System (ADS)

    Li, Shenping; Chan, K. T.

    1999-07-01

    A wavelength-tunable actively mode-locked erbium fiber ring laser was demonstrated using a distributed feedback semiconductor laser as an intensity mode locker and a tunable optical filter. Very stable optical pulse trains at gigabit repetition rates were generated using harmonica mode locking. The supermode noise was suppressed to 60 dB below the signal level and the root-mean-square timing jitter (0.45 kHz-1 MHz) was found to be about 1% of the pulse duration. A continuous wavelength tuning range of 1.8 nm was achieved by changing the semiconductor laser temperature from 11.4 to 30 °C.

  4. Modes of hurricane activity variability in the eastern Pacific: Implications for the 2016 season

    NASA Astrophysics Data System (ADS)

    Boucharel, Julien; Jin, Fei-Fei; England, Matthew H.; Lin, I. I.

    2016-11-01

    A gridded product of accumulated cyclone energy (ACE) in the eastern Pacific is constructed to assess the dominant mode of tropical cyclone (TC) activity variability. Results of an empirical orthogonal function decomposition and regression analysis of environmental variables indicate that the two dominant modes of ACE variability (40% of the total variance) are related to different flavors of the El Niño-Southern Oscillation (ENSO). The first mode, more active during the later part of the hurricane season (September-November), is linked to the eastern Pacific El Niño through the delayed oceanic control associated with the recharge-discharge mechanism. The second mode, dominant in the early months of the hurricane season, is related to the central Pacific El Niño mode and the associated changes in atmospheric variability. A multilinear regression forecast model of the dominant principal components of ACE variability is then constructed. The wintertime subsurface state of the eastern equatorial Pacific (characterizing ENSO heat discharge), the east-west tilt of the thermocline (describing ENSO phase transition), the anomalous ocean surface conditions in the TC region in spring (portraying atmospheric changes induced by persistence of local surface anomalies), and the intraseasonal atmospheric variability in the western Pacific are found to be good predictors of TC activity. Results complement NOAA's official forecast by providing additional spatial and temporal information. They indicate a more active 2016 season ( 2 times the ACE mean) with a spatial expansion into the central Pacific associated with the heat discharge from the 2015/2016 El Niño.

  5. Recent slope mobilizations in the Storegga Slide area

    NASA Astrophysics Data System (ADS)

    Berndt, C.; Crutchley, G.; Karstens, J.; Dumke, I.; Duennbier, K.

    2012-12-01

    With ~3500 km3 of mobilized material the Storegga Slide off mid-Norway is one of the largest known sub-marine slope failures. It occurred approximately 8150 years ago and there is strong evidence suggesting that the slide caused a large tsunami that propagated through the North Atlantic and affected the coasts of Norway, Iceland and the U.K. In the Nyegga area along the northern side wall of the slide numerous shallow faults exist. These faults detach within the top 100 m below the sea floor at various stratigraphic levels below, at, and above the main slide plain of the Storegga Slide. Previous studies proposed that these faults are evidence for partial slope movements during the Storegga Slide event indicating that the adjacent slopes were deformed due to the stress variations caused by the Storegga Slide. New high-resolution Parasound data that we have collected in May 2012 onboard RV Meteor show offsets of reflectors that are buried less than 3 m below the sea floor. Assuming that the sedimentation rates derived from a near-by Marion Dufresne sediment core, can be extrapolated to the study area, these reflector offsets suggest that the faults are younger than the Storegga Slide. Given a several million year-long history of repeated slope failures in the area it is important to obtain more precise dates for the activity of the faults in order to assess if these faults can be used as an indicator for future slope failures in the area or if they are the result of small-scale adjustments of the head wall topography in the wake of the Storegga Slide.

  6. ExpR is not required for swarming but promotes sliding in Sinorhizobium meliloti.

    PubMed

    Nogales, Joaquina; Bernabéu-Roda, Lydia; Cuéllar, Virginia; Soto, María J

    2012-04-01

    Swarming is a mode of translocation dependent on flagellar activity that allows bacteria to move rapidly across surfaces. In several bacteria, swarming is a phenotype regulated by quorum sensing. It has been reported that the swarming ability of the soil bacterium Sinorhizobium meliloti Rm2011 requires a functional ExpR/Sin quorum-sensing system. However, our previous published results demonstrate that strains Rm1021 and Rm2011, both known to have a disrupted copy of expR, are able to swarm on semisolid minimal medium. In order to clarify these contradictory results, the role played by the LuxR-type regulator ExpR has been reexamined. Results obtained in this work revealed that S. meliloti can move over semisolid surfaces using at least two different types of motility. One type is flagellum-independent surface spreading or sliding, which is positively influenced by a functional expR gene mainly through the production of exopolysaccharide II (EPS II). To a lesser extent, EPS II-deficient strains can also slide on surfaces by a mechanism that is at least dependent on the siderophore rhizobactin 1021. The second type of surface translocation shown by S. meliloti is swarming, which is greatly dependent on flagella and rhizobactin 1021 but does not require ExpR. We have extended our study to demonstrate that the production of normal amounts of succinoglycan (EPS I) does not play a relevant role in surface translocation but that its overproduction facilitates both swarming and sliding motilities.

  7. Impacts of human activity modes and climate on heavy metal "spread" in groundwater are biased.

    PubMed

    Chen, Ming; Qin, Xiaosheng; Zeng, Guangming; Li, Jian

    2016-06-01

    Groundwater quality deterioration has attracted world-wide concerns due to its importance for human water supply. Although more and more studies have shown that human activities and climate are changing the groundwater status, an investigation on how different groundwater heavy metals respond to human activity modes (e.g. mining, waste disposal, agriculture, sewage effluent and complex activity) in a varying climate has been lacking. Here, for each of six heavy metals (i.e. Fe, Zn, Mn, Pb, Cd and Cu) in groundwater, we use >330 data points together with mixed-effect models to indicate that (i) human activity modes significantly influence the Cu and Mn but not Zn, Fe, Pb and Cd levels, and (ii) annual mean temperature (AMT) only significantly influences Cu and Pb levels, while annual precipitation (AP) only significantly affects Fe, Cu and Mn levels. Given these differences, we suggest that the impacts of human activity modes and climate on heavy metal "spread" in groundwater are biased.

  8. New First Order Raman-active Modes in Few Layered Transition Metal Dichalcogenides

    PubMed Central

    Terrones, H.; Corro, E. Del; Feng, S.; Poumirol, J. M.; Rhodes, D.; Smirnov, D.; Pradhan, N. R.; Lin, Z.; Nguyen, M. A. T.; Elías, A. L.; Mallouk, T. E.; Balicas, L.; Pimenta, M. A.; Terrones, M.

    2014-01-01

    Although the main Raman features of semiconducting transition metal dichalcogenides are well known for the monolayer and bulk, there are important differences exhibited by few layered systems which have not been fully addressed. WSe2 samples were synthesized and ab-initio calculations carried out. We calculated phonon dispersions and Raman-active modes in layered systems: WSe2, MoSe2, WS2 and MoS2 ranging from monolayers to five-layers and the bulk. First, we confirmed that as the number of layers increase, the E′, E″ and E2g modes shift to lower frequencies, and the A′1 and A1g modes shift to higher frequencies. Second, new high frequency first order A′1 and A1g modes appear, explaining recently reported experimental data for WSe2, MoSe2 and MoS2. Third, splitting of modes around A′1 and A1g is found which explains those observed in MoSe2. Finally, exterior and interior layers possess different vibrational frequencies. Therefore, it is now possible to precisely identify few-layered STMD. PMID:24572993

  9. The salience network causally influences default mode network activity during moral reasoning

    PubMed Central

    Wilson, Stephen M.; D’Esposito, Mark; Kayser, Andrew S.; Grossman, Scott N.; Poorzand, Pardis; Seeley, William W.; Miller, Bruce L.; Rankin, Katherine P.

    2013-01-01

    Large-scale brain networks are integral to the coordination of human behaviour, and their anatomy provides insights into the clinical presentation and progression of neurodegenerative illnesses such as Alzheimer’s disease, which targets the default mode network, and behavioural variant frontotemporal dementia, which targets a more anterior salience network. Although the default mode network is recruited when healthy subjects deliberate about ‘personal’ moral dilemmas, patients with Alzheimer’s disease give normal responses to these dilemmas whereas patients with behavioural variant frontotemporal dementia give abnormal responses to these dilemmas. We hypothesized that this apparent discrepancy between activation- and patient-based studies of moral reasoning might reflect a modulatory role for the salience network in regulating default mode network activation. Using functional magnetic resonance imaging to characterize network activity of patients with behavioural variant frontotemporal dementia and healthy control subjects, we present four converging lines of evidence supporting a causal influence from the salience network to the default mode network during moral reasoning. First, as previously reported, the default mode network is recruited when healthy subjects deliberate about ‘personal’ moral dilemmas, but patients with behavioural variant frontotemporal dementia producing atrophy in the salience network give abnormally utilitarian responses to these dilemmas. Second, patients with behavioural variant frontotemporal dementia have reduced recruitment of the default mode network compared with healthy control subjects when deliberating about these dilemmas. Third, a Granger causality analysis of functional neuroimaging data from healthy control subjects demonstrates directed functional connectivity from nodes of the salience network to nodes of the default mode network during moral reasoning. Fourth, this Granger causal influence is diminished in

  10. Hand ultrasound: a high-fidelity simulation of lung sliding.

    PubMed

    Shokoohi, Hamid; Boniface, Keith

    2012-09-01

    Simulation training has been effectively used to integrate didactic knowledge and technical skills in emergency and critical care medicine. In this article, we introduce a novel model of simulating lung ultrasound and the features of lung sliding and pneumothorax by performing a hand ultrasound. The simulation model involves scanning the palmar aspect of the hand to create normal lung sliding in varying modes of scanning and to mimic ultrasound features of pneumothorax, including "stratosphere/barcode sign" and "lung point." The simple, reproducible, and readily available simulation model we describe demonstrates a high-fidelity simulation surrogate that can be used to rapidly illustrate the signs of normal and abnormal lung sliding at the bedside.

  11. Routes to failure in rotating MEMS devices experiencing sliding friction

    SciTech Connect

    Miller, S.L.; LaVigne, G.; Rodgers, M.S.; Sniegowski, J.J.; Waters, J.P.; McWhorter, P.J.

    1997-08-01

    Gear systems rotating on hubs have been operated to failure using Sandia`s microengine as the actuation device. Conventional failure modes such as fatigue induced fracture did not occur, indicating that the devices are mechanically extremely robust. The generic route to failure observed for all rotating devices involves sticking of structures that are in sliding contact. This sticking evidently results from microscopic changes in the sliding surfaces during operation. The rate at which these changes occur is accelerated by excessive applied forces, which originate from non-optimized designs or inappropriate drive voltages. Precursors to failure are observed, enabling further understanding of the microscopic changes that occur in the sliding surfaces that ultimately lead to failure.

  12. Scaling laws in superlubric sliding of metallic nanoparticles

    NASA Astrophysics Data System (ADS)

    Feldmann, Michael; Dietzel, Dirk; Moenninghoff, Tristan; Schirmeisen, Andre; Schwarz, Udo D.

    2010-03-01

    If an interface between two incommensurate surfaces is atomically clean, a state of virtually frictionless sliding is anticipated, often referred to as ``superlubricity.'' Theory predicts that the lattice mismatch at the interface causes a decrease of shear stress with increasing contact area, ultimately leading to vanishing friction. Analyzing the contact area dependence of superlubric friction should therefore confirm the concept of superlubricity. To measure the interfacial friction we have manipulated metallic nanoparticles of different size on atomically flat surfaces by contact mode atomic force microscopy techniques. An optimized experimental setup allowed us to quantify friction of nanoparticles which previously appeared to be sliding frictionless [1]. As theoretically expected, interfacial friction showed a nonlinear contact area dependence with a shear stress decreasing with contact area. This confirms the superlubric sliding of the nanoparticles under investigation. [4pt] [1] Dietzel et al., Phys. Rev. Lett. 101, 125505 (2008).

  13. Dual-frequency plasmon lasing modes in active three-layered bimetallic Ag/Au nanoshells

    NASA Astrophysics Data System (ADS)

    Wu, DaJian; Wu, XueWei; Cheng, Ying; Jin, BiaoBing; Liu, XiaoJun

    2015-11-01

    The optical properties of three-layered silver-gold-silica (SGS) nanoshells with gain have been investigated theoretically by using Mie theory. Surface plasmon amplification by stimulated emission of radiation (spaser) phenomena can be observed at two plasmon modes of the active SGS nanoshell in the visible region. It is found with the decrease in the radius of the inner Ag core that the critical value of ɛg″(ωg ) for the super-resonance of the low-energy mode increases first and then decreases while that for the high-energy mode decreases. An interesting overlap between the two curves for the critical value of ɛg″(ωg ) can be found at a special core radius. At this point, two super-resonances can be achieved concurrently at the low- and high-energy modes of the active SGS nanoshell with the same gain coefficient. This dual-frequency spaser based on the bimetallic Ag/Au nanoshell may be an efficient candidate for designing the nanolaser.

  14. A Multi-Mode Blade Damping Control using Shunted Piezoelectric Transducers with Active Feedback Structure

    NASA Technical Reports Server (NTRS)

    Choi, Benjamin; Morrison, Carlos; Min, James

    2009-01-01

    The Structural Dynamics and. Mechanics branch (RXS) is developing smart adaptive structures to improve fan blade damping at resonances using piezoelectric (PE) transducers. In this presentation, only one shunted PE transducer was used to demonstrate active control of multi-mode blade resonance damping on a titanium alloy (Ti-6A1-4V) flat plate model, regardless of bending, torsion, and 2-stripe modes. This work would have a significant impact on the conventional passive shunt damping world because the standard feedback control design tools can now be used to design and implement electric shunt for vibration control. In other words, the passive shunt circuit components using massive inductors and. resistors for multi-mode resonance control can be replaced with digital codes. Furthermore, this active approach with multi patches can simultaneously control several modes in the engine operating range. Dr. Benjamin Choi presented the analytical and experimental results from this work at the Propulsion-Safety and. Affordable Readiness (P-SAR) Conference in March, 2009.

  15. Active and passive kink mode studies in a tokamak with a movable ferromagnetic wall

    SciTech Connect

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

    2015-05-15

    High-resolution active and passive kink mode studies are conducted in a tokamak with an adjustable ferromagnetic wall near the plasma surface. Ferritic tiles made from 5.6 mm thick Hiperco{sup ®} 50 alloy have been mounted on the plasma-facing side of half of the in-vessel movable wall segments in the High Beta Tokamak-Extended Pulse device [D. A. Maurer et al., Plasma Phys. Controlled Fusion 53, 074016 (2011)] in order to explore ferritic resistive wall mode stability. Low-activation ferritic steels are a candidate for structural components of a fusion reactor, and these experiments examine MHD stability of plasmas with nearby ferromagnetic material. Plasma-wall separation for alternating ferritic and non-ferritic wall segments is adjusted between discharges without opening the vacuum vessel. Amplification of applied resonant magnetic perturbations and plasma disruptivity are observed to increase when the ferromagnetic wall is close to plasma surface instead of the standard stainless steel wall. Rapidly rotating m/n=3/1 external kink modes have higher growth rates with the nearby ferritic wall. Feedback suppression of kinks is still as effective as before the installation of ferritic material in vessel, in spite of increased mode growth rates.

  16. MODE IDENTIFICATION OF MHD WAVES IN AN ACTIVE REGION OBSERVED WITH HINODE/EIS

    SciTech Connect

    Kitagawa, N.; Yokoyama, T.; Imada, S.; Hara, H.

    2010-09-20

    In order to better understand the possibility of coronal heating by MHD waves, we analyze Fe XII 195.12A data observed with the EUV Imaging Spectrometer on board Hinode. We performed a Fourier analysis of EUV intensity and Doppler velocity time series data in the active region corona. Notable intensity and Doppler velocity oscillations were found for two moss regions out of the five studied, while only small oscillations were found for five apexes of loops. The amplitudes of the oscillations were 0.4%-5.7% for intensity and 0.2-1.2 km s{sup -1} for Doppler velocity. In addition, oscillations of only the Doppler velocity were seen relatively less often in the data. We compared the amplitudes of intensity and those of Doppler velocity in order to identify MHD wave modes and calculated the phase delays between Fourier components of intensity and those of Doppler velocity. The results are interpreted in terms of MHD waves as follows: (1) few kink modes or torsional Alfven mode waves were seen in both moss regions and the apexes of loops, (2) upwardly propagating and standing slow mode waves were found in moss regions, and (3) consistent with previous studies, estimated values of energy flux of the waves were several orders of magnitude lower than that required for heating active regions.

  17. Cysteine Proteases: Modes of Activation and Future Prospects as Pharmacological Targets

    PubMed Central

    Verma, Sonia; Dixit, Rajnikant; Pandey, Kailash C.

    2016-01-01

    Proteolytic enzymes are crucial for a variety of biological processes in organisms ranging from lower (virus, bacteria, and parasite) to the higher organisms (mammals). Proteases cleave proteins into smaller fragments by catalyzing peptide bonds hydrolysis. Proteases are classified according to their catalytic site, and distributed into four major classes: cysteine proteases, serine proteases, aspartic proteases, and metalloproteases. This review will cover only cysteine proteases, papain family enzymes which are involved in multiple functions such as extracellular matrix turnover, antigen presentation, processing events, digestion, immune invasion, hemoglobin hydrolysis, parasite invasion, parasite egress, and processing surface proteins. Therefore, they are promising drug targets for various diseases. For preventing unwanted digestion, cysteine proteases are synthesized as zymogens, and contain a prodomain (regulatory) and a mature domain (catalytic). The prodomain acts as an endogenous inhibitor of the mature enzyme. For activation of the mature enzyme, removal of the prodomain is necessary and achieved by different modes. The pro-mature domain interaction can be categorized as protein–protein interactions (PPIs) and may be targeted in a range of diseases. Cysteine protease inhibitors are available that can block the active site but no such inhibitor available yet that can be targeted to block the pro-mature domain interactions and prevent it activation. This review specifically highlights the modes of activation (processing) of papain family enzymes, which involve auto-activation, trans-activation and also clarifies the future aspects of targeting PPIs to prevent the activation of cysteine proteases. PMID:27199750

  18. Third-order voltage-mode active-C band pass filter

    NASA Astrophysics Data System (ADS)

    Ranjan, Ashish; Ghosh, Mourina; Paul, Sajal K.

    2015-05-01

    In this research article, a new third-order voltage-mode active-C asymmetrical band pass filter is proposed. It uses three numbers of current-controlled current conveyors and three numbers of equal-valued capacitors. The topology has the following important features: uses only three active elements, uses three capacitors, uses all grounded capacitors and no resistor is suitable for integrated circuit design, there is no matching constraint, high input impedance, low output impedance, central frequency can easily be electronically controlled by bias current, and frequency response is asymmetrical in nature. The application of the proposed topology in the realisation of a voltage-mode sixth-order symmetrical band pass filter has been demonstrated. The workability of the proposed topology and sixth-order filter has been confirmed by simulation results using 0.35-µm Austria Micro Systems complementary metal oxide semiconductor technology.

  19. Infra red active modes due to coupling of cyclotron excitation and LO phonons in polar semiconductor

    NASA Astrophysics Data System (ADS)

    Agrawal, Ratna; Dubey, Swati; Ghosh, S.

    2013-06-01

    Effects of free carrier concentration, external magnetic field and Callen effective charge on infra red active modes in a polar semiconductor have been analytically investigated using simple harmonic oscillator model. Callen effective charge considerably enhances reflectivity and shifts minima towards lower values of energy. Presence of magnetic field leads towards the coupling of collective cyclotron excitations with LO phonon giving rise to maximum reflectivity whereas cyclotron resonance absorption results into minimum reflectivity.

  20. Passive feedback control of actively mode-locked pulsed Nd:YAG laser

    NASA Astrophysics Data System (ADS)

    Buchvarov, Ivan C.; Saltiel, Solomon M.

    1992-11-01

    A passive feedback control in an actively mode-locked pulsed Nd:YAG laser was used to shorten the pulse duration or obtain millisecond trains of ultra-short light pulses. The intracavity second harmonic generation in a crystal situated at proper distance from the output mirror served as a positive or negative feedback. When negative feedback was used, the length of the train was limited by the length of the flash lamp pumping pulse.

  1. Active Resistive Wall Mode Stabilization in Low Rotation, High Beta NSTX Plasmas

    NASA Astrophysics Data System (ADS)

    Sabbagh, S. A.

    2006-10-01

    An active feedback system to stabilize the resistive wall mode (RWM) in the National Spherical Torus Experiment (NSTX) is used to maintain plasma stability for greater than 90 RWM growth times. These experiments are the first to demonstrate RWM active stabilization in high beta, low aspect ratio tokamak plasmas with toroidal plasma rotation significantly below the critical rotation profile for passive stability and in the range predicted for ITER. Actively stabilized, low rotation plasmas reached normalized beta of 5.6, and the ratio of normalized beta to the toroidal mode number, n = 1 and 2 ideal no-wall stability limits reached 1.2 and 1.15 respectively, determined by DCON stability analysis of the time-evolving reconstructed experimental equilibria. The significant, controlled reduction of the plasma rotation to less than one percent of the Alfven speed was produced by non-resonant magnetic braking by an applied n = 3 field. The observed plasma rotation damping is in quantitative agreement with neoclassical toroidal viscosity theory including trapped particle effects [1]. The active stabilization system employs a mode control algorithm using RWM sensor input analyzed to distinguish the amplitude and phase of the n = 1 mode. During n = 1 stabilization, the n = 2 mode amplitude increases and surpasses the n = 1 amplitude, but the mode remains stable. By varying the system gain, and relative phase between the measured n = 1 RWM phase and the applied control field, both positive and negative feedback were demonstrated. Contrary to past experience in moderate aspect ratio tokamaks with poloidally continuous stabilizing structure, the RWM can become unstable in certain cases by deforming poloidally, an important consideration for feedback system sensor and control coil design in future devices such as ITER and KSTAR. **In collaboration with R.E. Bell, J.E. Menard, D.A. Gates, A.C. Sontag, J.M. Bialek, B.P. LeBlanc, F.M. Levinton, K. Tritz, H. Yuh. [1] W. Zhu, S

  2. Process-Based Characterizations of Subsurface Fluid Pressures for a Devil's Slide-like System

    NASA Astrophysics Data System (ADS)

    Thomas, M.; Loague, K.

    2014-12-01

    Coastal margins commonly host slope stability hazards that are influenced by hydrologic, geologic, and / or anthropogenic perturbations. A firm foundation for rigorously understanding the component contributions and process-based linkages among hydrologic and geomorphic response is comprehensive physics-based simulation. This study is motivated by the hydrologically-driven, creeping and episodic deep-seated bedrock slides that intersect a former section of the Pacific Coast Highway in the active landslide zone at Devil's Slide near Pacifica, California. For this study, deterministic-conceptual hydrogeologic simulation was employed to estimate fluid pressures for saturated three-dimensional (3D) subsurface systems. One-dimensional (1D) vertical, transient, variably-saturated simulations were conducted to establish the position of the water table (i.e., the upper boundary condition) for the 3D steady-state saturated problems which encode the geologic information for heterogeneous and anisotropic systems. The concept-development effort undertaken here demonstrates that, for a Devil's Slide-like system: (i) specific climatic conditions facilitate variable lag times associated with water-table dynamics, (ii) recharge is the most sensitive parameter to establish risk-averse estimates of fluid pressure, (iii) nuances in the 3D flow field related to fault zone characteristics markedly influence fluid pressures, and (iv) it is unlikely that seasonal fluctuations in the regional water table account for severe failure modes. The simulated fluid pressures encourage new interdisciplinary data discovery to investigate the spatial and temporal persistence of perched water in the study area. To capture event-driven failures for the Devil's Slide site, future efforts should develop characterizations of the unsaturated near surface with a rigor similar to the treatment of the saturated zone demonstrated by this study.

  3. A novel glass slide filing system for pathology slides.

    PubMed

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

    2007-07-01

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

  4. Mode of Action of Lactoperoxidase as Related to Its Antimicrobial Activity: A Review

    PubMed Central

    Bafort, F.; Parisi, O.; Perraudin, J.-P.; Jijakli, M. H.

    2014-01-01

    Lactoperoxidase is a member of the family of the mammalian heme peroxidases which have a broad spectrum of activity. Their best known effect is their antimicrobial activity that arouses much interest in in vivo and in vitro applications. In this context, the proper use of lactoperoxidase needs a good understanding of its mode of action, of the factors that favor or limit its activity, and of the features and properties of the active molecules. The first part of this review describes briefly the classification of mammalian peroxidases and their role in the human immune system and in host cell damage. The second part summarizes present knowledge on the mode of action of lactoperoxidase, with special focus on the characteristics to be taken into account for in vitro or in vivo antimicrobial use. The last part looks upon the characteristics of the active molecule produced by lactoperoxidase in the presence of thiocyanate and/or iodide with implication(s) on its antimicrobial activity. PMID:25309750

  5. Prestimulus default mode activity influences depth of processing and recognition in an emotional memory task.

    PubMed

    Soravia, Leila M; Witmer, Joëlle S; Schwab, Simon; Nakataki, Masahito; Dierks, Thomas; Wiest, Roland; Henke, Katharina; Federspiel, Andrea; Jann, Kay

    2016-03-01

    Low self-referential thoughts are associated with better concentration, which leads to deeper encoding and increases learning and subsequent retrieval. There is evidence that being engaged in externally rather than internally focused tasks is related to low neural activity in the default mode network (DMN) promoting open mind and the deep elaboration of new information. Thus, reduced DMN activity should lead to enhanced concentration, comprehensive stimulus evaluation including emotional categorization, deeper stimulus processing, and better long-term retention over one whole week. In this fMRI study, we investigated brain activation preceding and during incidental encoding of emotional pictures and on subsequent recognition performance. During fMRI, 24 subjects were exposed to 80 pictures of different emotional valence and subsequently asked to complete an online recognition task one week later. Results indicate that neural activity within the medial temporal lobes during encoding predicts subsequent memory performance. Moreover, a low activity of the default mode network preceding incidental encoding leads to slightly better recognition performance independent of the emotional perception of a picture. The findings indicate that the suppression of internally-oriented thoughts leads to a more comprehensive and thorough evaluation of a stimulus and its emotional valence. Reduced activation of the DMN prior to stimulus onset is associated with deeper encoding and enhanced consolidation and retrieval performance even one week later. Even small prestimulus lapses of attention influence consolidation and subsequent recognition performance.

  6. Characterization of wavelength-swept active mode locking fiber laser based on reflective semiconductor optical amplifier

    NASA Astrophysics Data System (ADS)

    Lee, Hwi Don; Lee, Ju Han; Yung Jeong, Myung; Kim, Chang-Seok

    2011-07-01

    The static and dynamic characteristics of a wavelength-swept active mode locking (AML) fiber laser are presented in both the time-region and wavelength-region. This paper shows experimentally that the linewidth of a laser spectrum and the bandwidth of the sweeping wavelength are dependent directly on the length and dispersion of the fiber cavity as well as the modulation frequency and sweeping rate under the mode-locking condition. To achieve a narrower linewidth, a longer length and higher dispersion of the fiber cavity as well as a higher order mode locking condition are required simultaneously. For a broader bandwidth, a lower order of the mode locking condition is required using a lower modulation frequency. The dynamic sweeping performance is also analyzed experimentally to determine its applicability to optical coherence tomography imaging. It is shown that the maximum sweeping rate can be improved by the increased free spectral range from the shorter length of the fiber cavity. A reflective semiconductor optical amplifier (RSOA) was used to enhance the modulation and dispersion efficiency. Overall a triangular electrical signal can be used instead of the sinusoidal signal to sweep the lasing wavelength at a high sweeping rate due to the lack of mechanical restrictions in the wavelength sweeping mechanism.

  7. Differential activation of the default mode network in jet lagged individuals.

    PubMed

    Coutinho, Joana Fernandes; Gonçalves, Oscar Filipe; Maia, Liliana; Fernandes Vasconcelos, Cristiana; Perrone-McGovern, Kristin; Simon-Dack, Stephanie; Hernandez, Kristina; Oliveira-Silva, Patricia; Mesquita, Ana Raquel; Sampaio, Adriana

    2015-02-01

    Long-term exposure to transmeridian flights has been shown to impact cognitive functioning. Nevertheless, the immediate effects of jet lag in the activation of specific brain networks have not been investigated. We analyzed the impact of short-term jet lag on the activation of the default mode network (DMN). A group of individuals who were on a transmeridian flight and a control group went through a functional magnetic resonance imaging acquisition. Statistical analysis was performed to test for differences in the DMN activation between groups. Participants from the jet lag group presented decreased activation in the anterior nodes of the DMN, specifically in bilateral medial prefrontal and anterior cingulate cortex. No areas of increased activation were observed for the jet lag group. These results may be suggestive of a negative impact of jet lag on important cognitive functions such as introspection, emotional regulation and decision making in a few days after individuals arrive at their destination.

  8. Comparison of different active polarimetric imaging modes for target detection in outdoor environment.

    PubMed

    Vannier, Nicolas; Goudail, François; Plassart, Corentin; Boffety, Matthieu; Feneyrou, Patrick; Leviandier, Luc; Galland, Frédéric; Bertaux, Nicolas

    2016-04-10

    We address the detection of manufactured objects in different types of environments with active polarimetric imaging. Using an original, fully adaptive imager, we compare several imaging modes having different numbers of polarimetric degrees of freedom. We demonstrate the efficiency of active polarimetric imaging for decamouflage and hazardous object detection, and underline the characteristics that a polarimetric imager aimed at this type of application should possess. We show that in most encountered scenarios the Mueller matrices are nearly diagonal, and sufficient detection performance can be obtained with simple polarimetric imaging systems having reduced degrees of freedom. Moreover, intensity normalization of images is of paramount importance to better reveal polarimetric contrast.

  9. High-wavenumber Solar f-mode Strengthening Prior to Active Region Formation

    NASA Astrophysics Data System (ADS)

    Singh, Nishant K.; Raichur, Harsha; Brandenburg, Axel

    2016-12-01

    We report a systematic strengthening of the local solar surface or fundamental f-mode one to two days prior to the emergence of an active region (AR) in the same (corotating) location. Except for a possibly related increase in the kurtosis of the magnetic field, no indication can be seen in the magnetograms at that time. Our study is motivated by earlier numerical findings of Singh et al., which showed that, in the presence of a nonuniform magnetic field that is concentrated a few scale heights below the surface, the f-mode fans out in the diagnostic kω diagram at high wavenumbers. Here we explore this possibility using data from the Helioseismic and Magnetic Imager on board the Solar Dynamics Observatory and show for six isolated ARs, 11130, 11158, 11242, 11105, 11072, and 11768, that at large latitudinal wavenumbers (corresponding to horizontal scales of around 3000 {km}), the f-mode displays strengthening about two days prior to AR formation and thus provides a new precursor for AR formation. Furthermore, we study two ARs, 12051 and 11678, apart from a magnetically quiet patch lying next to AR 12529, to demonstrate the challenges in extracting such a precursor signal when a newly forming AR emerges in a patch that lies in close proximity to one or several already existing ARs, which are expected to pollute neighboring patches. We then discuss plausible procedures for extracting precursor signals from regions with crowded environments. The idea that the f-mode is perturbed days before any visible magnetic activity occurs at the surface can be important in constraining dynamo models aimed at understanding the global magnetic activity of the Sun.

  10. YANA – a software tool for analyzing flux modes, gene-expression and enzyme activities

    PubMed Central

    Schwarz, Roland; Musch, Patrick; von Kamp, Axel; Engels, Bernd; Schirmer, Heiner; Schuster, Stefan; Dandekar, Thomas

    2005-01-01

    Background A number of algorithms for steady state analysis of metabolic networks have been developed over the years. Of these, Elementary Mode Analysis (EMA) has proven especially useful. Despite its low user-friendliness, METATOOL as a reliable high-performance implementation of the algorithm has been the instrument of choice up to now. As reported here, the analysis of metabolic networks has been improved by an editor and analyzer of metabolic flux modes. Analysis routines for expression levels and the most central, well connected metabolites and their metabolic connections are of particular interest. Results YANA features a platform-independent, dedicated toolbox for metabolic networks with a graphical user interface to calculate (integrating METATOOL), edit (including support for the SBML format), visualize, centralize, and compare elementary flux modes. Further, YANA calculates expected flux distributions for a given Elementary Mode (EM) activity pattern and vice versa. Moreover, a dissection algorithm, a centralization algorithm, and an average diameter routine can be used to simplify and analyze complex networks. Proteomics or gene expression data give a rough indication of some individual enzyme activities, whereas the complete flux distribution in the network is often not known. As such data are noisy, YANA features a fast evolutionary algorithm (EA) for the prediction of EM activities with minimum error, including alerts for inconsistent experimental data. We offer the possibility to include further known constraints (e.g. growth constraints) in the EA calculation process. The redox metabolism around glutathione reductase serves as an illustration example. All software and documentation are available for download at . Conclusion A graphical toolbox and an editor for METATOOL as well as a series of additional routines for metabolic network analyses constitute a new user-friendly software for such efforts. PMID:15929789

  11. Cross-bridge attachment during high-speed active shortening of skinned fibers of the rabbit psoas muscle: implications for cross-bridge action during maximum velocity of filament sliding.

    PubMed

    Stehle, R; Brenner, B

    2000-03-01

    To characterize the kinetics of cross-bridge attachment to actin during unloaded contraction (maximum velocity of filament sliding), ramp-shaped stretches with different stretch-velocities (2-40,000 nm per half-sarcomere per s) were applied to actively contracting skinned fibers of the rabbit psoas muscle. Apparent fiber stiffness observed during such stretches was plotted versus the speed of the imposed stretch (stiffness-speed relation) to derive the rate constants for cross-bridge dissociation from actin. The stiffness-speed relation obtained for unloaded shortening conditions was shifted by about two orders of magnitude to faster stretch velocities compared to isometric conditions and was almost identical to the stiffness-speed relation observed in the presence of MgATPgammaS at high Ca(2+) concentrations, i.e., under conditions where cross-bridges are weakly attached to the fully Ca(2+) activated thin filaments. These data together with several control experiments suggest that, in contrast to previous assumptions, most of the fiber stiffness observed during high-speed shortening results from weak cross-bridge attachment to actin. The fraction of strongly attached cross-bridges during unloaded shortening appears to be as low as some 1-5% of the fraction present during isometric contraction. This is about an order of magnitude less than previous estimates in which contribution of weak cross-bridge attachment to observed fiber stiffness was not considered. Our findings imply that 1) the interaction distance of strongly attached cross-bridges during high-speed shortening is well within the range consistent with conventional cross-bridge models, i.e., that no repetitive power strokes need to be assumed, and 2) that a significant part of the negative forces that limit the maximum speed of filament sliding might originate from weak cross-bridge interactions with actin.

  12. Playing in parallel: the effects of multiplayer modes in active video game on motivation and physical exertion.

    PubMed

    Peng, Wei; Crouse, Julia

    2013-06-01

    Although multiplayer modes are common among contemporary video games, the bulk of game research focuses on the single-player mode. To fill the gap in the literature, the current study investigated the effects of different multiplayer modes on enjoyment, future play motivation, and the actual physical activity intensity in an active video game. One hundred sixty-two participants participated in a one-factor between-subject laboratory experiment with three conditions: (a) single player: play against self pretest score; (b) cooperation with another player in the same physical space; (c) parallel competition with another player in separated physical spaces. We found that parallel competition in separate physical spaces was the optimal mode, since it resulted in both high enjoyment and future play motivation and high physical intensity. Implications for future research on multiplayer mode and play space as well as active video game-based physical activity interventions are discussed.

  13. Heavy duty complete extension slides

    NASA Astrophysics Data System (ADS)

    Bueno, José Ignacio; Vázquez, Javier

    2001-09-01

    The selection from available commercial market of a set of slides to be used in an habitable pressurised module in space, to draw a 660 mm box out of a rack, up to a completely extracted position in a safely supported configuration, seems in principle not to be a complicated task. That was the first approach taken in the design process of the telescopic guides of the Crew Work Bench (CWB) included in the Fluid Science Laboratory (FSL), part of "ESA Microgravity Facilities for Columbus" within the Columbus Orbital Facility (COF) of the International Space Station (ISS). Nevertheless, common space compatible requirements such as materials, specific environmental loads, available envelope, total weight, etc., can make the selection of telescopic slides from commercial market unfeasible. A specific development to design space compatible telescopic slides for the CWB was undertaken. A set of heavy duty space compatible telescopic slides were designed, manufactured and tested. They should be operative in both, 1-g environment and in orbit, and additionally should withstand an inadvertent astronaut kick or bump of 556 N in any direction.

  14. Herbaceous Ornamental Plants. Slide Script.

    ERIC Educational Resources Information Center

    Still, Steven

    This document, which is one in a series of curriculum materials that has been developed for use in Ohio agricultural education programs, contains 338 black-and-white photographs of a set of color slides and an accompanying script that, together, are intended as an aid in the study and identification of 150 different commercially important…

  15. Linear Motor With Air Slide

    NASA Technical Reports Server (NTRS)

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

    1993-01-01

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

  16. Tree-ring Oxygen Isotope Records of Climate Modes Influencing North Atlantic Tropical Cyclone Activity

    NASA Astrophysics Data System (ADS)

    Mora, C. I.; Miller, D. L.; Grissino-Mayer, H. D.; Kocis, W. N.; Lewis, D. B.

    2006-12-01

    The relatively short instrumental record hinders our ability to discern the linkages between low frequency modes of climate variability and tropical cyclone activity and to differentiate natural versus anthropogenic components of these trends. The development of biological proxies for tropical cyclone activity and climate provides a basis for evaluation of these linkages over much longer time frames. The oxygen isotope composition of tree-ring cellulose, sampled at high resolution (seasonal or better), provides a new proxy for tropical cyclone activity that preserves a concurrent isotope time series reflecting the influence of climate variability. This proxy archive potentially extends many centuries beyond the instrumental and historical (documentary) record of climate and tropical cyclone activity. Isotope time series for longleaf pines (Pinus palustris Mill.) in southern Georgia and South Carolina preserve distinct tropical cyclone histories, yet similar, long term trends in cellulose δ 18O compositions. The isotope time series correlate to various climate modes proposed to impact hurricane formation and frequency. Tree-ring cellulose δ 18O values at the Georgia study site show a significant negative correlation with AMO indices from 1875 to about 1950, and a weaker, positive correlation from about 1965 to 1990. The "crossover" parallels a change in the predominant ontogeny of North Atlantic tropical cyclones from tropical-only to baroclinically-enhanced hurricanes. The intervening 1950s is marked by greater correspondence to ENSO indices. Reduced seasonality in the isotope record (i.e., the difference between earlywood and latewood δ 18O values) corresponds to warm phases of the PDO. An isotope series for 1580 to 1650 suggests little tropical cyclone activity coinciding with a period (1560-1625) of severe drought in the African Sahel. Although preliminary, these results suggest that tree-ring oxygen isotope compositions are sensitive to changes in climate

  17. Nd:YAG laser with passive-active mode-locking

    NASA Astrophysics Data System (ADS)

    Zhao, Weijiang; Chen, Zhenlei; Ren, Deming; Qu, Yanchen; Mo, Shuang; Huang, Jinjer; Andreev, Yury M.; Gorobets, Vadim A.; Petukhov, Vladimir O.; Zemlyanov, Aleksei A.

    2008-03-01

    All solid-state flash-lamp pumped passive-active mode-locked Nd3+:YAG laser is designed and experimentally studded. Saturation absorber Cr4+:YAG with initial transparency 25 and 47% are used as a passive Q-switcher and acousto-optical fused quartz modulator as an active mode-locker. Efficient length of the laser cavity with fixed mirror positions (1.45 m spaced) is droved by changes of 100% flat mirror for concave mirrors with different focus lengths. Changeable output mirrors with transparencies of 15 and 50% are used. Driving of the cavity parameters, laser and acousto-optical modulator power supply voltages let us to control output pulse train and single pulse parameters. As it goes from the analyses of oscillograms fixed with pyroelectric detector (τ=0.5 ns) and 1 GHz oscilloscope, over 95% of pulse output energy has been mode-locked. Average duration of the pulse train envelope of 5 to 50 single pulses at FWHM has been droved within 50 to 600 ns. When this single pulse duration is controlled but did not exceed 2 ns.

  18. Corporate colonization of health activism? Irish health advocacy organizations' modes of engagement with pharmaceutical corporations.

    PubMed

    O'Donovan, Orla

    2007-01-01

    This article is based on a study that aimed to shed light on the "cultures of action" of Irish health advocacy organizations, and particularly their modes of engagement with pharmaceutical corporations. Debates about what some interpret as the "corporate colonization" of health activism provide the backdrop for the analysis. The empirical dimension of the study involved a survey of 112 organizations and in-depth study of a small number of organizations that manifest diverse modes of engagement with the pharmaceutical industry. The varying modes of interaction are plotted along a continuum and characterized as corporatist, cautious cooperation, and confrontational. Evidence is presented of a strong and growing cultural tendency in Irish health advocacy organizations to frame pharmaceutical corporations as allies in their quests for better health. The analysis of four constitutive dimensions of organizations' cultures of action can reveal the legitimating logics underlying their diverging positions around pharmaceutical industry sponsorship. While the research shows that pharmaceutical corporations have largely succeeded in defining themselves as a philanthropic force and rightful players in Irish health activism, it cautions against a simplistic conclusion that this is evidence of corporate colonization.

  19. Use of active extracts of poplar buds against Penicillium italicum and possible modes of action.

    PubMed

    Yang, Shuzhen; Liu, Limei; Li, Dongmei; Xia, Huan; Su, Xiaojun; Peng, Litao; Pan, Siyi

    2016-04-01

    Antifungal components, from poplar buds active fraction (PBAF) against Penicillium italicum, the causal agent of blue mold in citrus fruits, were identified and possible action modes were investigated. Pinocembrin, chrysin and galangin were determined as active components in PBAF, using HPLC and HPLC-MS analysis. The antifungal activity is stable at temperatures ranging from 4 °C to 100 °C and pH levels ranging from 4 to 8. In the presence of PBAF, the hyphae become shriveled, wrinkled and the cell membrane became seriously disrupted. Further investigation on cell permeability, nucleic acid content and alkaline phosphatase suggest that the cell membrane might be the target. Mycelial oxygen consumption and the respiration-related enzymatic activity of succinate dehydrogenase, malate dehydrogenase and ATPase were all inhibited by PBAF. We propose that PBAF is a potentially useful alternative for blue mold control and may act against P. italicum by interfering with respiration and disrupting the cell membrane.

  20. Active mode calibration of the combined thermal epithermal neutron (CTEN) system

    SciTech Connect

    Veilleux, J. M.

    2001-01-01

    The Combined Thermal Epithermal Neutron (CTEN) system was developed by the Los Alamos National Laboratory to perform active and passive neutron interrogation of waste. The higher energy epithermal neutrons are able to penetrate further into the matrix and active material, thus reducing matrix attenuation and self-shielding effects compared to a thermal neutron pulse alone. The developmental unit was installed in 2001 at the Los Alamos Non-Destructive Assay (NDA) facility to characterize waste for the TRU Waste Characterization Project (TWCP). This paper summarizes the active mode certification results. National Institute of Standards and Technology (NIST) traceable standards were used to determine the system response as a function of mass. Finally, NIST-traceable verification standards were used to verify the calibration in the range 30 milligrams to 25 g of weapons grade plutonium although self-shielding limits the upper active interrogation to 10 g.

  1. CMOS common-mode rejection filter with floating active transformer operation

    NASA Astrophysics Data System (ADS)

    Uchida, Daisuke; Ikebe, Masayuki; Motohisa, Junichi; Sano, Eiichi; Kondou, Akira

    2014-01-01

    We propose an inductorless common-mode rejection filter with a gyrator-C network for common-mode-noise reduction. By adopting a gyrator-C network and ladder structure, high-order and small filter circuits with active transformer operation were fabricated. The filter was designed and fabricated in a Taiwan Semiconductor Manufacturing Company (TSMC) 0.18 µm CMOS process. This filter exhibited a CMRR of 80 dB, output noise voltage of 103 nV/Hz1/2, third-order input intercept point of 8.8 dBm at 1 MHz operation, and cutoff frequency of under 6 MHz. The total power consumption was 14.8 mW with a 2.5 V supply, and the chip area was 0.7 × 0.4 mm2.

  2. Promotion of protein crystal growth by actively switching crystal growth mode via femtosecond laser ablation

    NASA Astrophysics Data System (ADS)

    Tominaga, Yusuke; Maruyama, Mihoko; Yoshimura, Masashi; Koizumi, Haruhiko; Tachibana, Masaru; Sugiyama, Shigeru; Adachi, Hiroaki; Tsukamoto, Katsuo; Matsumura, Hiroyoshi; Takano, Kazufumi; Murakami, Satoshi; Inoue, Tsuyoshi; Yoshikawa, Hiroshi Y.; Mori, Yusuke

    2016-11-01

    Large single crystals with desirable shapes are essential for various scientific and industrial fields, such as X-ray/neutron crystallography and crystalline devices. However, in the case of proteins the production of such crystals is particularly challenging, despite the efforts devoted to optimization of the environmental, chemical and physical parameters. Here we report an innovative approach for promoting the growth of protein crystals by directly modifying the local crystal structure via femtosecond laser ablation. We demonstrate that protein crystals with surfaces that are locally etched (several micrometers in diameter) by femtosecond laser ablation show enhanced growth rates without losing crystal quality. Optical phase-sensitive microscopy and X-ray topography imaging techniques reveal that the local etching induces spiral growth, which is energetically advantageous compared with the spontaneous two-dimensional nucleation growth mode. These findings prove that femtosecond laser ablation can actively switch the crystal growth mode, offering flexible control over the size and shape of protein crystals.

  3. Piezo activated mode tracking system for widely tunable mode-hop-free external cavity mid-IR semiconductor lasers

    NASA Technical Reports Server (NTRS)

    Wysocki, Gerard (Inventor); Tittel, Frank K. (Inventor); Curl, Robert F. (Inventor)

    2010-01-01

    A widely tunable, mode-hop-free semiconductor laser operating in the mid-IR comprises a QCL laser chip having an effective QCL cavity length, a diffraction grating defining a grating angle and an external cavity length with respect to said chip, and means for controlling the QCL cavity length, the external cavity length, and the grating angle. The laser of claim 1 wherein said chip may be tuned over a range of frequencies even in the absence of an anti-reflective coating. The diffraction grating is controllably pivotable and translatable relative to said chip and the effective QCL cavity length can be adjusted by varying the injection current to the chip. The laser can be used for high resolution spectroscopic applications and multi species trace-gas detection. Mode-hopping is avoided by controlling the effective QCL cavity length, the external cavity length, and the grating angle so as to replicate a virtual pivot point.

  4. Learning about Modes in Atomic Force Microscopy by Means of Hands-On Activities Based on a Simple Apparatus

    ERIC Educational Resources Information Center

    Phuapaiboon, Unchada; Panijpan, Bhinyo; Osotchan, Tanakorn

    2009-01-01

    This study was conducted to examine the results of using a low-cost hands-on setup in combination with accompanying activities to promote understanding of the contact mode of atomic force microscopy (AFM). This contact mode setup enabled learners to study how AFM works by hand scanning using probing cantilevers with different characteristics on…

  5. 76 FR 26957 - Special Conditions: Boeing, Model 747-8 Series Airplanes; Door 1 Extendable Length Escape Slide

    Federal Register 2010, 2011, 2012, 2013, 2014

    2011-05-10

    ... part 34 and the noise certification requirements of 14 CFR part 36. Special conditions, as defined in... end. The airplane is equipped with an electronic sensor that evaluates the attitude of the airplane... slide in its normal attitude and will ensure that the slide can function in its extended mode at...

  6. Approved Practices in Dairy Reproduction. Slide Script.

    ERIC Educational Resources Information Center

    Roediger, Roger D.; Barr, Harry L.

    This slide script, part of a series of slide scripts designed for use in vocational agriculture classes, deals with approved practices in dairy reproduction. Included in the guide are narrations for use with 200 slides dealing with the following topics: the importance of good reproduction, the male and female roles in reproduction, selection of…

  7. Linear Classification of Dairy Cattle. Slide Script.

    ERIC Educational Resources Information Center

    Sipiorski, James; Spike, Peter

    This slide script, part of a series of slide scripts designed for use in vocational agriculture classes, deals with principles of the linear classification of dairy cattle. Included in the guide are narrations for use with 63 slides, which illustrate the following areas that are considered in the linear classification system: stature, strength,…

  8. Techniques for Generating Instructional Slides. Final Report.

    ERIC Educational Resources Information Center

    Smith, Edgar A.; And Others

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

  9. Diseases of Landscape Ornamentals. Slide Script.

    ERIC Educational Resources Information Center

    Powell, Charles C.; Sydnor, T. Davis

    This slide script, part of a series of slide scripts designed for use in vocational agriculture classes, deals with recognizing and controlling diseases found on ornamental landscape plants. Included in the script are narrations for use with a total of 80 slides illustrating various foliar diseases (anthracnose, black spot, hawthorn leaf blight,…

  10. On-Line Retrieval of Clinical Slides.

    ERIC Educational Resources Information Center

    Milgrom, Linda

    The Physical Diagnosis Slide Bank, a collaborative project of the Universities of Washington, California at San Diego, and Arizona, utilizes an online interactive computer program to access a collection of over 2000 teaching clinical slides. Searchable data elements for each slide in the bank include subject descriptors (MeSH); accession number;…

  11. Synthesis, structure-activity relationship, and mode-of-action studies of antimalarial reversed chloroquine compounds.

    PubMed

    Burgess, Steven J; Kelly, Jane X; Shomloo, Shawheen; Wittlin, Sergio; Brun, Reto; Liebmann, Katherine; Peyton, David H

    2010-09-09

    We have previously shown that a "reversed chloroquine (RCQ)" molecule, composed of a chloroquine-like moiety and a resistance reversal-like moiety, can overcome chloroquine resistance in P. falciparum ( Burgess , S. J. ; Selzer , A. ; Kelly , J. X. ; Smilkstein , M. J. ; Riscoe , M. K. ; Peyton , D. H. J. Med. Chem. 2006 , 49 , 5623 . Andrews , S. ; Burgess , S. J. ; Skaalrud , D. ; Kelly , J. X. ; Peyton , D. H. J. Med. Chem. 2010 , 53 , 916 ). Here, we present an investigation into the structure-activity relationship of the RCQ structures, resulting in an orally active molecule with good in vitro and in vivo antimalarial activity. We also present evidence of the mode of action, indicating that the RCQ molecules inhibit hemozoin formation in the parasite's digestive vacuole in a manner similar to that of chloroquine.

  12. Psychophysiological mechanisms of interindividual differences in goal activation modes during action cascading.

    PubMed

    Mückschel, Moritz; Stock, Ann-Kathrin; Beste, Christian

    2014-08-01

    Our daily life is characterized by multiple response options that need to be cascaded in order to avoid overstrain of restricted response selection resources. While response selection and goal activation in action cascading are likely driven by a process varying from serial to parallel processing, little is known about the underlying neural mechanisms that may underlie interindividual differences in these modes of response selection. To investigate these mechanisms, we used a stop-change paradigm for the recording of event-related potentials and standardized low resolution brain electromagnetic tomography source localizations in healthy subjects. Systematically varying the stimulus onset asynchrony (the temporal spacing of "stop" and "change" signals), we applied mathematical constraints to classify subjects in more parallel or more serial goal activators during action cascading. On that basis, the electrophysiological data show that processes linking stimulus processing and response execution, but not attentional processes, underlie interindividual differences in either serial or parallel response selection modes during action cascading. On a systems level, these processes were mediated via a distributed fronto-parietal network, including the anterior cingulate cortex (Brodman area 32, BA32) and the temporo-parietal junction (BA40). There was a linear relation between the individual degree of overlap in activated task goals and electrophysiological processes.

  13. Short cavity active mode locking fiber laser for optical sensing and imaging

    NASA Astrophysics Data System (ADS)

    Lee, Hwi Don; Han, Ga Hee; Jeong, Syung Won; Jeong, Myung Yung; Kim, Chang-Seok; Shin, Jun Geun; Lee, Byeong Ha; Eom, Tae Joong

    2014-05-01

    We demonstrate a highly linear wavenumber- swept active mode locking (AML) fiber laser for optical sensing and imaging without any wavenumber-space resampling process. In this all-electric AML wavenumber-swept mechanism, a conventional wavelength selection filter is eliminated and, instead, the suitable programmed electric modulation signal is directly applied to the gain medium. Various types of wavenumber (or wavelength) tunings can be implemented because of the filter-less cavity configuration. Therefore, we successfully demonstrate a linearly wavenumber-swept AML fiber laser with 26.5 mW of output power to obtain an in-vivo OCT image at the 100 kHz swept rate.

  14. Spontaneous activity in default-mode network predicts ascription of self-relatedness to stimuli

    PubMed Central

    Grimm, Simone; Duncan, Niall W.; Fan, Yan; Huang, Zirui; Lane, Timothy; Weng, Xuchu; Bajbouj, Malek; Northoff, Georg

    2016-01-01

    Spontaneous activity levels prior to stimulus presentation can determine how that stimulus will be perceived. It has also been proposed that such spontaneous activity, particularly in the default-mode network (DMN), is involved in self-related processing. We therefore hypothesised that pre-stimulus activity levels in the DMN predict whether a stimulus is judged as self-related or not. Participants were presented in the MRI scanner with a white noise stimulus that they were instructed contained their name or another. They then had to respond with which name they thought they heard. Regions where there was an activity level difference between self and other response trials 2 s prior to the stimulus being presented were identified. Pre-stimulus activity levels were higher in the right temporoparietal junction, the right temporal pole and the left superior temporal gyrus in trials where the participant responded that they heard their own name than trials where they responded that they heard another. Pre-stimulus spontaneous activity levels in particular brain regions, largely overlapping with the DMN, predict the subsequent judgement of stimuli as self-related. This extends our current knowledge of self-related processing and its apparent relationship with intrinsic brain activity in what can be termed a rest-self overlap. PMID:26796968

  15. Spontaneous activity in default-mode network predicts ascription of self-relatedness to stimuli.

    PubMed

    Qin, Pengmin; Grimm, Simone; Duncan, Niall W; Fan, Yan; Huang, Zirui; Lane, Timothy; Weng, Xuchu; Bajbouj, Malek; Northoff, Georg

    2016-04-01

    Spontaneous activity levels prior to stimulus presentation can determine how that stimulus will be perceived. It has also been proposed that such spontaneous activity, particularly in the default-mode network (DMN), is involved in self-related processing. We therefore hypothesised that pre-stimulus activity levels in the DMN predict whether a stimulus is judged as self-related or not. Participants were presented in the MRI scanner with a white noise stimulus that they were instructed contained their name or another. They then had to respond with which name they thought they heard. Regions where there was an activity level difference between self and other response trials 2 s prior to the stimulus being presented were identified. Pre-stimulus activity levels were higher in the right temporoparietal junction, the right temporal pole and the left superior temporal gyrus in trials where the participant responded that they heard their own name than trials where they responded that they heard another. Pre-stimulus spontaneous activity levels in particular brain regions, largely overlapping with the DMN, predict the subsequent judgement of stimuli as self-related. This extends our current knowledge of self-related processing and its apparent relationship with intrinsic brain activity in what can be termed a rest-self overlap.

  16. Apparatus Would Stain Microscope Slides

    NASA Technical Reports Server (NTRS)

    Breeding, James D.

    1993-01-01

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

  17. Antimicrobial activity of amine oxides: mode of action and structure-activity correlation.

    PubMed

    Subík, J; Takácsová, G; Psenák, M; Devínsky, F

    1977-08-01

    The effect of N-alkyl derivatives of saturated heterocyclic amine oxides on the growth and metabolism of microorganisms has been studied. 4-Dodecylmorpholine-N-oxide inhibited the differentiation and growth of Bacillus cereus, of different species of filamentous fungi, and of the yeast Saccharomyces cerevisiae. For vegetative cells, the effect of 4-dodecylmorpholine-N-oxide was lethal. Cells of S. cerevisiae, after interaction with 4-dodecylmorpholine-N-oxide, released intracellular K(+) and were unable to oxidize or ferment glucose. The functions of isolated yeast mitochondria were also impaired. 4-Dodecylmorpholine-N-oxide at growth-inhibiting concentrations induced rapid lysis of osmotically stabilized yeast protoplasts, with the rate of lysis a function of temperature and of amine oxide concentration. A study of the relationships between structure, antimicrobial activity, and cytolytic activity was made with a group of structurally different amine oxides involving a series of homologous 4-alkylmorpholine-N-oxides, 1-alkylpiperidine-N-oxides, 1-dodecylpyrrolidine-N-oxide, 1-dodecylperhydroasepine-N-oxide, and N,N-dimethyldodecylamine oxide. Disorganization of the membrane structure after interaction of cells with the tested amine oxides was primarily responsible for the antimicrobial activity of the amine oxides. This activity was found to be dependent on the chain length of the hydrophobic alkyl group and was only moderately influenced by other substituents of the polarized N-oxide group.

  18. Automated single-slide staining device

    NASA Technical Reports Server (NTRS)

    Wilkins, J. R.; Mills, S. M. (Inventor)

    1977-01-01

    A simple apparatus and method is disclosed for making individual single Gram stains on bacteria inoculated slides to assist in classifying bacteria in the laboratory as Gram-positive or Gram-negative. The apparatus involves positioning a single inoculated slide in a stationary position and thereafter automatically and sequentially flooding the slide with increments of a primary stain, a mordant, a decolorizer, a counterstain and a wash solution in a sequential manner without the individual lab technician touching the slide and with minimum danger of contamination thereof from other slides.

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

    DOEpatents

    Breach, Michael R.; Keck, David J.; Deaver, Gerald A.

    2013-01-15

    Provided is a sliding support and a system using the sliding support unit. The sliding support unit may include a fulcrum capture configured to attach to a support flange, a fulcrum support configured to attach to the fulcrum capture, and a baseplate block configured to support the fulcrum support. The system using the sliding support unit may include a pressure vessel, a pedestal bracket, and a plurality of sliding support units.

  20. [Ecological demonstration activity and eco-civilization construction mode: review and prospects].

    PubMed

    Mao, Hui-ping; He, Xuan; He, Jia; Niu, Dong-jie; Bao, Cun-kuan

    2013-04-01

    Ecological civilization is to normalize human development behaviors to harmonize the relationships between social and ecological development and eco-environment protection. In this paper, a comparative analysis was made on the ecological demonstration activities of ecological demonstration areas led by the Ministry of Environmental Protection, exemplar cities of national environmental protection, and ecological provinces, cities, and counties. It was considered that all the ecological demonstration activities had the problems of lacking pertinence of construction goals, disordered construction subjects, inefficient construction processes, and lacking continuous incentive mechanisms of assessment. In the meantime, through the analysis of the connotations of eco-civilization, the relationships between eco-civilization and eco-demonstration constructions were approached, and the eco-civilization construction mode was put forward in terms of construction goal, construction subject, and construction processes and assessment. The construction mode included the construction goal based on regional characteristics; the synergistic cooperation of construction subjects, the expanding ways of public participation, and the establishment of evaluation system for comprehensively measuring the 'actions and results'.

  1. Rotation in a reversed field pinch with active feedback stabilization of resistive wall modes

    NASA Astrophysics Data System (ADS)

    Cecconello, M.; Menmuir, S.; Brunsell, P. R.; Kuldkepp, M.

    2006-09-01

    Active feedback stabilization of multiple resistive wall modes (RWMs) has been successfully proven in the EXTRAP T2R reversed field pinch. One of the features of plasma discharges operated with active feedback stabilization, in addition to the prolongation of the plasma discharge, is the sustainment of the plasma rotation. Sustained rotation is observed both for the internally resonant tearing modes (TMs) and the intrinsic impurity oxygen ions. Good quantitative agreement between the toroidal rotation velocities of both is found: the toroidal rotation is characterized by an acceleration phase followed, after one wall time, by a deceleration phase that is slower than in standard discharges. The TMs and the impurity ions rotate in the same poloidal direction with also similar velocities. Poloidal and toroidal velocities have comparable amplitudes and a simple model of their radial profile reproduces the main features of the helical angular phase velocity. RWMs feedback does not qualitatively change the TMs behaviour and typical phenomena such as the dynamo and the 'slinky' are still observed. The improved sustainment of the plasma and TMs rotation occurs also when feedback only acts on internally non-resonant RWMs. This may be due to an indirect positive effect, through non-linear coupling between TMs and RWMs, of feedback on the TMs or to a reduced plasma-wall interaction affecting the plasma flow rotation. Electromagnetic torque calculations show that with active feedback stabilization the TMs amplitude remains well below the locking threshold condition for a thick shell. Finally, it is suggested that active feedback stabilization of RWMs and current profile control techniques can be employed simultaneously thus improving both the plasma duration and its confinement properties.

  2. The brain on art: intense aesthetic experience activates the default mode network

    PubMed Central

    Vessel, Edward A.; Starr, G. Gabrielle; Rubin, Nava

    2012-01-01

    Aesthetic responses to visual art comprise multiple types of experiences, from sensation and perception to emotion and self-reflection. Moreover, aesthetic experience is highly individual, with observers varying significantly in their responses to the same artwork. Combining fMRI and behavioral analysis of individual differences in aesthetic response, we identify two distinct patterns of neural activity exhibited by different sub-networks. Activity increased linearly with observers' ratings (4-level scale) in sensory (occipito-temporal) regions. Activity in the striatum (STR) also varied linearly with ratings, with below-baseline activations for low-rated artworks. In contrast, a network of frontal regions showed a step-like increase only for the most moving artworks (“4” ratings) and non-differential activity for all others. This included several regions belonging to the “default mode network” (DMN) previously associated with self-referential mentation. Our results suggest that aesthetic experience involves the integration of sensory and emotional reactions in a manner linked with their personal relevance. PMID:22529785

  3. The Psychedelic State Induced by Ayahuasca Modulates the Activity and Connectivity of the Default Mode Network

    PubMed Central

    Palhano-Fontes, Fernanda; Andrade, Katia C.; Tofoli, Luis F.; Santos, Antonio C.; Crippa, Jose Alexandre S.; Hallak, Jaime E. C.; Ribeiro, Sidarta; de Araujo, Draulio B.

    2015-01-01

    The experiences induced by psychedelics share a wide variety of subjective features, related to the complex changes in perception and cognition induced by this class of drugs. A remarkable increase in introspection is at the core of these altered states of consciousness. Self-oriented mental activity has been consistently linked to the Default Mode Network (DMN), a set of brain regions more active during rest than during the execution of a goal-directed task. Here we used fMRI technique to inspect the DMN during the psychedelic state induced by Ayahuasca in ten experienced subjects. Ayahuasca is a potion traditionally used by Amazonian Amerindians composed by a mixture of compounds that increase monoaminergic transmission. In particular, we examined whether Ayahuasca changes the activity and connectivity of the DMN and the connection between the DMN and the task-positive network (TPN). Ayahuasca caused a significant decrease in activity through most parts of the DMN, including its most consistent hubs: the Posterior Cingulate Cortex (PCC)/Precuneus and the medial Prefrontal Cortex (mPFC). Functional connectivity within the PCC/Precuneus decreased after Ayahuasca intake. No significant change was observed in the DMN-TPN orthogonality. Altogether, our results support the notion that the altered state of consciousness induced by Ayahuasca, like those induced by psilocybin (another serotonergic psychedelic), meditation and sleep, is linked to the modulation of the activity and the connectivity of the DMN. PMID:25693169

  4. Default mode network activation and Transcendental Meditation practice: Focused Attention or Automatic Self-transcending?

    PubMed

    Travis, Frederick; Parim, Niyazi

    2017-02-01

    This study used subjective reports and eLORETA analysis to assess to what extent Transcendental Meditation (TM) might involve focused attention-voluntary control of mental content. Eighty-seven TM subjects with one month to five years TM experience participated in this study. Regression analysis of years TM practice and self-reported transcendental experiences (lack of time, space and body sense) during meditation practice was flat (r=.07). Those practicing Transcendental Meditation for 1month reported as much transcending as those with 5years of practice. The eLORETA comparison of eyes-closed rest/task and TM practice/task identified similar areas of activation: theta and alpha activation during rest and TM in the posterior cingulate and precuneus, part of the default mode network, and beta2 and beta3 activation during the task in anterior cingulate, ventral lateral and dorsolateral prefrontal cortices, part of the central executive network. In addition, eLORETA comparison of rest and TM identified higher beta temporal activation during rest and higher theta orbitofrontal activation during TM. Thus, it does not seem accurate to include TM practice with meditations in the catgory of Focused Attention, which are characterized by gamma EEG and DMN deactivation. Mixing meditations with different procedures into a single study confounds exploration of meditation effects and confounds application of meditation practices to different subject populations.

  5. The psychedelic state induced by ayahuasca modulates the activity and connectivity of the default mode network.

    PubMed

    Palhano-Fontes, Fernanda; Andrade, Katia C; Tofoli, Luis F; Santos, Antonio C; Crippa, Jose Alexandre S; Hallak, Jaime E C; Ribeiro, Sidarta; de Araujo, Draulio B

    2015-01-01

    The experiences induced by psychedelics share a wide variety of subjective features, related to the complex changes in perception and cognition induced by this class of drugs. A remarkable increase in introspection is at the core of these altered states of consciousness. Self-oriented mental activity has been consistently linked to the Default Mode Network (DMN), a set of brain regions more active during rest than during the execution of a goal-directed task. Here we used fMRI technique to inspect the DMN during the psychedelic state induced by Ayahuasca in ten experienced subjects. Ayahuasca is a potion traditionally used by Amazonian Amerindians composed by a mixture of compounds that increase monoaminergic transmission. In particular, we examined whether Ayahuasca changes the activity and connectivity of the DMN and the connection between the DMN and the task-positive network (TPN). Ayahuasca caused a significant decrease in activity through most parts of the DMN, including its most consistent hubs: the Posterior Cingulate Cortex (PCC)/Precuneus and the medial Prefrontal Cortex (mPFC). Functional connectivity within the PCC/Precuneus decreased after Ayahuasca intake. No significant change was observed in the DMN-TPN orthogonality. Altogether, our results support the notion that the altered state of consciousness induced by Ayahuasca, like those induced by psilocybin (another serotonergic psychedelic), meditation and sleep, is linked to the modulation of the activity and the connectivity of the DMN.

  6. New triazoles and echinocandins: mode of action, in vitro activity and mechanisms of resistance.

    PubMed

    Fera, Maria Teresa; La Camera, Erminia; De Sarro, Angelina

    2009-10-01

    against important basidiomycetes, including Cryptococcus, Rhodotorula and Trichosporon. This review attempts to deliver the most up-to-date knowledge on the mode of action and mechanisms of resistance to triazoles and echinocandins in fungal pathogens. In addition, the in vitro activity data available on triazoles and echinocandins are reported.

  7. Reduced salience and default mode network activity in women with anorexia nervosa

    PubMed Central

    McFadden, Kristina L.; Tregellas, Jason R.; Shott, Megan E.; Frank, Guido K.W.

    2014-01-01

    Background The neurobiology of anorexia nervosa is poorly understood. Neuronal networks contributing to action selection, self-regulation and interoception could contribute to pathologic eating and body perception in people with anorexia nervosa. We tested the hypothesis that the salience network (SN) and default mode network (DMN) would show decreased intrinsic activity in women with anorexia nervosa and those who had recovered from the disease compared to controls. The basal ganglia (BGN) and sensorimotor networks (SMN) were also investigated. Methods Between January 2008 and January 2012, women with restricting-type anorexia nervosa, women who recovered from the disease and healthy control women completed functional magnetic resonance imaging during a conditioned stimulus task. Network activity was studied using independent component analysis. Results We studied 20 women with anorexia nervosa, 24 recovered women and 24 controls. Salience network activity in the anterior cingulate cortex was reduced in women with anorexia nervosa (p = 0.030; all results false-discovery rate–corrected) and recovered women (p = 0.039) compared to controls. Default mode network activity in the precuneus was reduced in women with anorexia compared to controls (p = 0.023). Sensorimotor network activity in the supplementary motor area (SMA; p = 0.008), and the left (p = 0.028) and right (p = 0.002) postcentral gyrus was reduced in women with anorexia compared to controls; SMN activity in the SMA (p = 0.019) and the right postcentral gyrus (p = 0.008) was reduced in women with anorexia compared to recovered women. There were no group differences in the BGN. Limitations Differences between patient and control populations (e.g., depression, anxiety, medication) are potential confounds, but were included as covariates. Conclusion Reduced SN activity in women with anorexia nervosa and recovered women could be a trait-related biomarker or illness remnant, altering the drive to approach

  8. Parameter studies of sediments in the Storegga Slide region

    NASA Astrophysics Data System (ADS)

    Yang, S. L.; Kvalstad, T.; Solheim, A.; Forsberg, C. F.

    2006-09-01

    Based on classification tests, oedometer tests, fall-cone tests and triaxial tests, physical and mechanical properties of sediments in the Storegga Slide region were analysed to assess parameter interrelationships. The data show good relationships between a number of physical and mechanical parameters. Goodness of fit between compression index and various physical parameters can be improved by multiple regression analysis. The interclay void ratio and liquidity index correlate well with the undrained shear strength of clay. Sediments with higher water content, liquid limit, activity, interclay void ratio, plasticity index and liquidity index showed higher compression index and/or lower undrained shear strength. Some relationships between parameters were tested by using data from two other sites south of the Storegga Slide. A better understanding of properties of sediments in regions such as that of the Storegga Slide can be obtained through this approach.

  9. Enzyme activation and catalysis: characterisation of the vibrational modes of substrate and product in protochlorophyllide oxidoreductase.

    PubMed

    Sytina, Olga A; Alexandre, Maxime T; Heyes, Derren J; Hunter, C Neil; Robert, Bruno; van Grondelle, Rienk; Groot, Marie Louise

    2011-02-14

    The light-dependent reduction of protochlorophyllide, a key step in the synthesis of chlorophyll, is catalyzed by the enzyme protochlorophyllide oxidoreductase (POR) and requires two photons (O. A. Sytina et al., Nature, 2008, 456, 1001-1008). The first photon activates the enzyme-substrate complex, a subsequent second photon initiates the photochemistry by triggering the formation of a catalytic intermediate. These two events are characterized by different spectral changes in the infra-red spectral region. Here, we investigate the vibrational frequencies of the POR-bound and unbound substrate, and product, and thus provide a detailed assignment of the spectral changes in the 1800-1250 cm(-1) region associated with the catalytic conversion of PChlide:NADPH:TyrOH into Chlide:NADP(+):TyrO(-). Fluorescence line narrowed spectra of the POR-bound Pchlide reveal a C=O keto group downshifted by more than 20 cm(-1) to a relatively low vibrational frequency of 1653 cm(-1), as compared to the unbound Pchlide, indicating that binding of the chromophore to the protein occurs via strong hydrogen bond(s). The frequencies of the C=C vibrational modes are consistent with a six-coordinated state of the POR-bound Pchlide, suggesting that there are two coordination interactions between the central Mg atom of the chromophore and protein residues, and/or a water molecule. The frequencies of the C=C vibrational modes of Chlide are consistent with a five-coordinated state, indicating a single interaction between the central Mg atom of the chromophore and a water molecule. Rapid-scan FTIR measurements on the Pchlide:POR:NADPH complex at 4 cm(-1) spectral resolution reveal a new band in the 1670 cm(-1) region. The FTIR spectra of the enzyme activation phase indicate involvement of a nucleotide-binding structural motif, and an increased exposure of the protein to solvent after activation.

  10. Reconstituted B cell receptor signaling reveals carbohydrate-dependent mode of activation

    PubMed Central

    Villar, Rina F.; Patel, Jinal; Weaver, Grant C.; Kanekiyo, Masaru; Wheatley, Adam K.; Yassine, Hadi M.; Costello, Catherine E.; Chandler, Kevin B.; McTamney, Patrick. M.; Nabel, Gary J.; McDermott, Adrian B.; Mascola, John R.; Carr, Steven A.; Lingwood, Daniel

    2016-01-01

    Activation of immune cells (but not B cells) with lectins is widely known. We used the structurally defined interaction between influenza hemagglutinin (HA) and its cell surface receptor sialic acid (SA) to identify a B cell receptor (BCR) activation modality that proceeded through non-cognate interactions with antigen. Using a new approach to reconstitute antigen-receptor interactions in a human reporter B cell line, we found that sequence-defined BCRs from the human germline repertoire could be triggered by both complementarity to influenza HA and a separate mode of signaling that relied on multivalent ligation of BCR sialyl-oligosaccharide. The latter suggested a new mechanism for priming naïve B cell responses and manifested as the induction of SA-dependent pan-activation by peripheral blood B cells. BCR crosslinking in the absence of complementarity is a superantigen effect induced by some microbial products to subvert production of antigen-specific immune responses. B cell superantigen activity through affinity for BCR carbohydrate is discussed. PMID:27796362

  11. Antiviral activity and mode of action of propolis extracts and selected compounds.

    PubMed

    Schnitzler, Paul; Neuner, Annett; Nolkemper, Silke; Zundel, Christine; Nowack, Hans; Sensch, Karl Heinz; Reichling, Jürgen

    2010-01-01

    Aqueous and ethanol extracts of propolis were analysed phytochemically and examined for their antiviral activity in vitro. Different polyphenols, flavonoids and phenylcarboxylic acids were identified as major constituents. The antiviral effect of propolis extracts and selected constituents, e.g. caffeic acid (1), p-coumaric acid (2), benzoic acid (3), galangin (4), pinocembrin (5) and chrysin (6) against herpes simplex virus type 1 (HSV-1) was analysed in cell culture. The 50% inhibitory concentration (IC(50)) of aqueous and ethanol propolis extracts for HSV-1 plaque formation was determined at 0.0004% and 0.000035%, respectively. Both propolis extracts exhibited high levels of antiviral activity against HSV-1 in viral suspension tests, plaque formation was significantly reduced by >98%. In order to determine the mode of antiviral action of propolis, the extracts were added at different times during the viral infection cycle. Both propolis extracts exhibited high anti-HSV-1 activity when the viruses were pretreated with these drugs prior to infection. Among the analysed compounds, only galangin and chrysin displayed some antiviral activity. However, the extracts containing many different components exhibited significantly higher antiherpetic effects as well as higher selectivity indices than single isolated constituents. Propolis extracts might be suitable for topical application against herpes infection.

  12. Duration of activity and mode of action of modafinil: Studies on sleep and wakefulness in humans.

    PubMed

    Turner, C; Belyavin, A J; Nicholson, A N

    2014-07-01

    The duration of activity of modafinil was investigated in healthy male volunteers in two double-blind crossover studies. Mode of action was explored using a statistical model concerned with the relationship between total sleep duration and that of rapid eye movement (REM) sleep. Nocturnal sleep (23:00-07:00) followed by next-day performance (09:00-17:00) was studied in 12 subjects administered 100, 200, 300 mg modafinil and placebo, 0.5 h before bedtime. Performance overnight (19:00-08:45) followed by sleep (09:15-15:15) was studied in nine subjects administered 100, 200, 300, 400 mg modafinil, 300 mg caffeine and placebo at 22:15. Modafinil dose-dependently reduced sleep duration (nocturnal: 200 mg, p<0.05; 300 mg, p<0.001; morning: 300 and 400 mg, p<0.05) and REM sleep (nocturnal: 300 mg; morning: 400 mg; p<0.05). The statistical model revealed that reduced REM sleep was due to alerting activity, with no evidence of direct suppression of REM sleep, suggesting dopaminergic activity. Enhanced performance with modafinil during overnight work varied with dose (200 mg>100 mg; 300, 400 mg>200, 100 mg, caffeine). However, in the study of next-day performance, the enhancement was attenuated at the highest dose (300 mg) by the greater disturbance of prior sleep. These findings indicate that modafinil has a long duration of action, with alerting properties arising predominantly from dopaminergic activity.

  13. Active and passive mode calibration of the Combined Thermal Epithermal Neutron (CTEN) system

    SciTech Connect

    Veilleux, J. M.

    2002-06-01

    The Combined Thermal/Epithermal Neutron (CTEN) non-destructive assay (NDA) system was designed to assay transuranic waste by employing an induced active neutron interrogation and/or a spontaneous passive neutron measurement. This is the second of two papers, and focuses on the passive mode, relating the net double neutron coincidence measurement to the plutonium mass via the calibration constant. National Institute of Standards and Technology (NIST) calibration standards were used and the results verified with NIST-traceable verification standards. Performance demonstration program (PDP) 'empty' 208-L matrix drum was used for the calibration. The experimentally derived calibration constant was found to be 0.0735 {+-} 0.0059 g {sup 240}Pu effective per unit response. Using this calibration constant, the Waste Isolation Pilot Plant (WIPP) criteria was satisfied with five minute waste assays in the range from 3 to 177g Pu. CTEN also participated in the PDP Cycle 8A blind assay with organic sludge and metal matrices and passed the criteria for accuracy and precision in both assay modes. The WIPP and EPA audit was completed March 1, 2002 and full certification is awaiting the closeout of one finding during the audit. With the successful closeout of the audit, the CTEN system will have shown that it can provide very fast assays (five minutes or less) of waste in the range from the minimum detection limit (about 2 mg Pu) to 177 g Pu.

  14. Creep to inertia dominated stick-slip behavior in sliding friction modulated by tilted non-uniform loading

    NASA Astrophysics Data System (ADS)

    Tian, Pengyi; Tao, Dashuai; Yin, Wei; Zhang, Xiangjun; Meng, Yonggang; Tian, Yu

    2016-09-01

    Comprehension of stick-slip motion is very important for understanding tribological principles. The transition from creep-dominated to inertia-dominated stick-slip as the increase of sliding velocity has been described by researchers. However, the associated micro-contact behavior during this transition has not been fully disclosed yet. In this study, we investigated the stick-slip behaviors of two polymethyl methacrylate blocks actively modulated from the creep-dominated to inertia-dominated dynamics through a non-uniform loading along the interface by slightly tilting the angle of the two blocks. Increasing the tilt angle increases the critical transition velocity from creep-dominated to inertia-dominated stick-slip behaviors. Results from finite element simulation disclosed that a positive tilt angle led to a higher normal stress and a higher temperature on blocks at the opposite side of the crack initiating edge, which enhanced the creep of asperities during sliding friction. Acoustic emission (AE) during the stick-slip has also been measured, which is closely related to the different rupture modes regulated by the distribution of the ratio of shear to normal stress along the sliding interface. This study provided a more comprehensive understanding of the effect of tilted non-uniform loading on the local stress ratio, the local temperature, and the stick-slip behaviors.

  15. Creep to inertia dominated stick-slip behavior in sliding friction modulated by tilted non-uniform loading

    PubMed Central

    Tian, Pengyi; Tao, Dashuai; Yin, Wei; Zhang, Xiangjun; Meng, Yonggang; Tian, Yu

    2016-01-01

    Comprehension of stick-slip motion is very important for understanding tribological principles. The transition from creep-dominated to inertia-dominated stick-slip as the increase of sliding velocity has been described by researchers. However, the associated micro-contact behavior during this transition has not been fully disclosed yet. In this study, we investigated the stick-slip behaviors of two polymethyl methacrylate blocks actively modulated from the creep-dominated to inertia-dominated dynamics through a non-uniform loading along the interface by slightly tilting the angle of the two blocks. Increasing the tilt angle increases the critical transition velocity from creep-dominated to inertia-dominated stick-slip behaviors. Results from finite element simulation disclosed that a positive tilt angle led to a higher normal stress and a higher temperature on blocks at the opposite side of the crack initiating edge, which enhanced the creep of asperities during sliding friction. Acoustic emission (AE) during the stick-slip has also been measured, which is closely related to the different rupture modes regulated by the distribution of the ratio of shear to normal stress along the sliding interface. This study provided a more comprehensive understanding of the effect of tilted non-uniform loading on the local stress ratio, the local temperature, and the stick-slip behaviors. PMID:27641908

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

    PubMed

    Solberg, Brooke L

    2012-01-01

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

  17. Angular dependence of source-target-detector in active mode standoff infrared detection

    NASA Astrophysics Data System (ADS)

    Pacheco-Londoño, Leonardo C.; Castro-Suarez, John R.; Aparicio-Bolaños, Joaquín. A.; Hernández-Rivera, Samuel P.

    2013-06-01

    Active mode standoff measurement using infrared spectroscopy were carried out in which the angle between target and the source was varied from 0-70° with respect to the surface normal of substrates containing traces of highly energetic materials (explosives). The experiments were made using three infrared sources: a modulated source (Mod-FTIR), an unmodulated source (UnMod-FTIR) and a scanning quantum cascade laser (QCL), part of a dispersive mid infrared (MIR) spectrometer. The targets consisted of PENT 200 μg/cm2 deposited on aluminum plates placed at 1 m from the sources. The evaluation of the three modalities was aimed at verifying the influence of the highly collimated laser beam in the detection in comparison with the other sources. The Mod-FTIR performed better than QCL source in terms of the MIR signal intensity decrease with increasing angle.

  18. Sliding behavior and deformation textures of heated illite gouge

    USGS Publications Warehouse

    Moore, Diane E.; Summers, R.; Byerlee, J.D.

    1989-01-01

    The run products of a series of triaxial friction experiments on an illite-rich gouge have been examined petrographically to study the relationship between textural development and sliding mode. The samples show a complete range of textures, from ones in which the entire gouge layer is deformed to ones in which the deformation is concentrated along narrow subsidiary shears and the rest of the gouge layer is massive. The samples with a pervasively developed deformation fabric slide stably, whereas the samples containing shear bands show stick-slip motion if the intersection angles between boundary-parallel and cross-cutting (Riedel) shears are also relatively high. These textural differences suggest that localization of shear combined with higher-angle Riedel shears are somehow involved in stick-slip motion. The orientation of Riedel-type shears in natural fault zones may also have potential as a paleoseismological tool. ?? 1989.

  19. An array microscope for ultrarapid virtual slide processing and telepathology. Design, fabrication, and validation study.

    PubMed

    Weinstein, Ronald S; Descour, Michael R; Liang, Chen; Barker, Gail; Scott, Katherine M; Richter, Lynne; Krupinski, Elizabeth A; Bhattacharyya, Achyut K; Davis, John R; Graham, Anna R; Rennels, Margaret; Russum, William C; Goodall, James F; Zhou, Pixuan; Olszak, Artur G; Williams, Bruce H; Wyant, James C; Bartels, Peter H

    2004-11-01

    This paper describes the design and fabrication of a novel array microscope for the first ultrarapid virtual slide processor (DMetrix DX-40 digital slide scanner). The array microscope optics consists of a stack of three 80-element 10 x 8-lenslet arrays, constituting a "lenslet array ensemble." The lenslet array ensemble is positioned over a glass slide. Uniquely shaped lenses in each of the lenslet arrays, arranged perpendicular to the glass slide constitute a single "miniaturized microscope." A high-pixel-density image sensor is attached to the top of the lenslet array ensemble. In operation, the lenslet array ensemble is transported by a motorized mechanism relative to the long axis of a glass slide. Each of the 80 miniaturized microscopes has a lateral field of view of 250 microns. The microscopes of each row of the array are offset from the microscopes in other rows. Scanning a glass slide with the array microscope produces seamless two-dimensional image data of the entire slide, that is, a virtual slide. The optical system has a numerical aperture of N.A.= 0.65, scans slides at a rate of 3 mm per second, and accrues up to 3,000 images per second from each of the 80 miniaturized microscopes. In the ultrarapid virtual slide processing cycle, the time for image acquisition takes 58 seconds for a 2.25 cm2 tissue section. An automatic slide loader enables the scanner to process up to 40 slides per hour without operator intervention. Slide scanning and image processing are done concurrently so that post-scan processing is eliminated. A virtual slide can be viewed over the Internet immediately after the scanning is complete. A validation study compared the diagnostic accuracy of pathologist case readers using array microscopy (with images viewed as virtual slides) and conventional light microscopy. Four senior pathologists diagnosed 30 breast surgical pathology cases each using both imaging modes, but on separate occasions. Of 120 case reads by array microscopy

  20. Bumblebees minimize control challenges by combining active and passive modes in unsteady winds

    NASA Astrophysics Data System (ADS)

    Ravi, Sridhar; Kolomenskiy, Dmitry; Engels, Thomas; Schneider, Kai; Wang, Chun; Sesterhenn, Jörn; Liu, Hao

    2016-10-01

    The natural wind environment that volant insects encounter is unsteady and highly complex, posing significant flight-control and stability challenges. It is critical to understand the strategies insects employ to safely navigate in natural environments. We combined experiments on free flying bumblebees with high-fidelity numerical simulations and lower-order modeling to identify the mechanics that mediate insect flight in unsteady winds. We trained bumblebees to fly upwind towards an artificial flower in a wind tunnel under steady wind and in a von Kármán street formed in the wake of a cylinder. Analysis revealed that at lower frequencies in both steady and unsteady winds the bees mediated lateral movement with body roll - typical casting motion. Numerical simulations of a bumblebee in similar conditions permitted the separation of the passive and active components of the flight trajectories. Consequently, we derived simple mathematical models that describe these two motion components. Comparison between the free-flying live and modeled bees revealed a novel mechanism that enables bees to passively ride out high-frequency perturbations while performing active maneuvers at lower frequencies. The capacity of maintaining stability by combining passive and active modes at different timescales provides a viable means for animals and machines to tackle the challenges posed by complex airflows.

  1. Bumblebees minimize control challenges by combining active and passive modes in unsteady winds

    PubMed Central

    Ravi, Sridhar; Kolomenskiy, Dmitry; Engels, Thomas; Schneider, Kai; Wang, Chun; Sesterhenn, Jörn; Liu, Hao

    2016-01-01

    The natural wind environment that volant insects encounter is unsteady and highly complex, posing significant flight-control and stability challenges. It is critical to understand the strategies insects employ to safely navigate in natural environments. We combined experiments on free flying bumblebees with high-fidelity numerical simulations and lower-order modeling to identify the mechanics that mediate insect flight in unsteady winds. We trained bumblebees to fly upwind towards an artificial flower in a wind tunnel under steady wind and in a von Kármán street formed in the wake of a cylinder. Analysis revealed that at lower frequencies in both steady and unsteady winds the bees mediated lateral movement with body roll - typical casting motion. Numerical simulations of a bumblebee in similar conditions permitted the separation of the passive and active components of the flight trajectories. Consequently, we derived simple mathematical models that describe these two motion components. Comparison between the free-flying live and modeled bees revealed a novel mechanism that enables bees to passively ride out high-frequency perturbations while performing active maneuvers at lower frequencies. The capacity of maintaining stability by combining passive and active modes at different timescales provides a viable means for animals and machines to tackle the challenges posed by complex airflows. PMID:27752047

  2. Modulation of western North Pacific tropical cyclone activity by the Atlantic Meridional Mode

    NASA Astrophysics Data System (ADS)

    Zhang, Wei; Vecchi, Gabriel A.; Villarini, Gabriele; Murakami, Hiroyuki; Rosati, Anthony; Yang, Xiaosong; Jia, Liwei; Zeng, Fanrong

    2017-01-01

    This study examines the year-to-year modulation of the western North Pacific (WNP) tropical cyclones (TC) activity by the Atlantic Meridional Mode (AMM) using both observations and the Geophysical Fluid Dynamics Laboratory Forecast-oriented Low Ocean Resolution Version of CM2.5 (FLOR) global coupled model. 1. The positive (negative) AMM phase suppresses (enhances) WNP TC activity in observations. The anomalous occurrence of WNP TCs results mainly from changes in TC genesis in the southeastern part of the WNP. 2. The observed responses of WNP TC activity to the AMM are connected to the anomalous zonal vertical wind shear (ZVWS) caused by AMM-induced changes to the Walker circulation. During the positive AMM phase, the warming in the North Atlantic induces strong descending flow in the tropical eastern and central Pacific, which intensifies the Walker cell in the WNP. The intensified Walker cell is responsible for the suppressed (enhanced) TC genesis in the eastern (western) part of the WNP by strengthening (weakening) ZVWS. 3. The observed WNPTC-AMM linkage is examined by the long-term control and idealized perturbations experiment with FLOR-FA. A suite of sensitivity experiments strongly corroborate the observed WNPTC-AMM linkage and underlying physical mechanisms.

  3. Structural basis of constitutive activity and a unique nucleotide binding mode of human Pim-1 kinase.

    PubMed

    Qian, Kevin C; Wang, Lian; Hickey, Eugene R; Studts, Joey; Barringer, Kevin; Peng, Charline; Kronkaitis, Anthony; Li, Jun; White, Andre; Mische, Sheenah; Farmer, Bennett

    2005-02-18

    Pim-1 kinase is a member of a distinct class of serine/threonine kinases consisting of Pim-1, Pim-2, and Pim-3. Pim kinases are highly homologous to one another and share a unique consensus hinge region sequence, ER-PXPX, with its two proline residues separated by a non-conserved residue, but they (Pim kinases) have <30% sequence identity with other kinases. Pim-1 has been implicated in both cytokine-induced signal transduction and the development of lymphoid malignancies. We have determined the crystal structures of apo Pim-1 kinase and its AMP-PNP (5'-adenylyl-beta,gamma-imidodiphosphate) complex to 2.1-angstroms resolutions. The structures reveal the following. 1) The kinase adopts a constitutively active conformation, and extensive hydrophobic and hydrogen bond interactions between the activation loop and the catalytic loop might be the structural basis for maintaining such a conformation. 2) The hinge region has a novel architecture and hydrogen-bonding pattern, which not only expand the ATP pocket but also serve to establish unambiguously the alignment of the Pim-1 hinge region with that of other kinases. 3) The binding mode of AMP-PNP to Pim-1 kinase is unique and does not involve a critical hinge region hydrogen bond interaction. Analysis of the reported Pim-1 kinase-domain structures leads to a hypothesis as to how Pim kinase activity might be regulated in vivo.

  4. System dynamic instabilities induced by sliding contact: A numerical analysis with experimental validation

    NASA Astrophysics Data System (ADS)

    Brunetti, J.; Massi, F.; Saulot, A.; Renouf, M.; D`Ambrogio, W.

    2015-06-01

    Mechanical systems present several contact surfaces between deformable bodies. The contact interface can be either static (joints) or in sliding (active interfaces). The sliding interfaces can have several roles and according to their application they can be developed either for maximizing the friction coefficient and the energy dissipation (e.g. brakes) or rather to allow the relative displacement at joints with a maximum efficiency. In both cases the coupling between system and local contact dynamics can bring to system dynamics instabilities (e.g. brake squeal or squeaking of hip prostheses). This results in unstable vibrations of the system, induced by the oscillation of the contact forces. In the literature, a large number of works deal with such kind of instabilities and are mainly focused on applied problems such as brake squeal noise. This paper shows a more general numerical analysis of a simple system constituted by two bodies in sliding contact: a rigid cylinder rotating inside a deformable one. The parametrical Complex Eigenvalue Analysis and the transient numerical simulations show how the friction forces can give rise to in-plane dynamic instabilities due to the interaction between two system modes, even for such a simple system characterized by one deformable body. Results from transient simulations highlight the key role of realistic values of the material damping to have convergence of the model and, consequently, reliable physical results. To this aim an experimental estimation of the material damping has been carried out. Moreover, the simplicity of the system allows for a deeper analysis of the contact instability and a balance of the energy flux among friction, system vibrations and damping. The numerical results have been validated by comparison with experimental ones, obtained by a specific test bench developed to reproduce and analyze the contact friction instabilities.

  5. Robust Path Tracking of Autonomous Underwater Vehicles Using Sliding Modes

    DTIC Science & Technology

    1990-12-01

    YP- ,YR ,YVQ REAL YWP ,YWR- , YV ,YVW REAL YDR ,CDYC C NORMAL HYDRODYNAMIC-COEFFICIENTS C REAL ZODOT ,ZPP, ZPR .,ZRR REAL ZWDOT ,ZQ ,ZVP ,ZVR REAL ZW...2.7E-2 ,CDY -3.5E-1)- -C NORMAL-HYDRODYNAMIC COEFFICIENTS -C PARAMETER (ZQDOT--6.-8E-3 ,ZPP -1.3E-4 , ZPR -6.7E-3 ,ZRR=--7.4E-.3, & ZWDOT---2.4E-1...KASS*XG*P*R - NASS*YG*Q*R + & MASS*ZG*P**2 + MASS*ZG*Q**2 + (RHO/2)*L**4*(ZPP*P**2 + & ZPR *P*R + ZRR*R*42) +-(RHO/2-)*L**3*(ZQ*U*Q + ZVP*V*P + & ZVR*V*R

  6. Fractional activation of accumulation-mode particles in warm continental stratiform clouds

    SciTech Connect

    Gillani, N.V.; Daum, P.H.; Schwartz, S.E.; Leaitch, W.R.; Strapp, J.W.; Isaac, G.A.

    1991-07-01

    The degree of activation of accumulation-mode particles (AMP) in clouds has been studied using continuous (1 second average) aircraft measurements of the number concentrations of cloud droplets (N{sub cd}, 2 to 35 {mu}m diameter) and of unactivated AMP (N{sub amp}, 0.17 to 2.07 {mu}m diameter) in cloud interstitial air. The magnitude and spatial variation of the activated fraction (F) of all measured particles (defined as F {triple_bond} N{sub cd}/N{sub tot}, where N{sub tot} = N{sub cd} + N{sub amp}) are investigated, based on measurements made during ten aircraft flights in non-precipitating warm continental stratiform clouds near Syracuse NY in the fall of 1984. Based on instantaneous observations throughout the clouds, the spatial distribution of F was found to be quite nonuniform. In general, F was low in cloud edges and where total particle loading was high and/or cloud convective activity was low. In the interior of clouds, the value of F exceeded 0.9 for 36% of the data, but was below 0.6 for 28%. Factors influencing F the most were the total particle loading (N{sub tot}) and the thermal stability of the cloud layer. The dependence of F on N{sub tot} in cloud interior was characterized by two distinct regimes. For N{sub tot} < 600 cm{sup {minus}3}, F was generally close to unity and relatively insensitive to N{sub tot}. For N{sub tot} > 800 cm{sup {minus}3}, F tended to decrease with increasing N{sub tot}. This decrease was greatest in a stable stratus deck embedded in a warm moist airmass. The results suggest that, in warm continental stratiform clouds, the process of particle activation becomes nonlinear and self-limiting at high particle loading. The degree of this nonlinearity depends on cloud convective activity (thermal instability).

  7. Fractional activation of accumulation-mode particles in warm continental stratiform clouds

    SciTech Connect

    Gillani, N.V. Associates, Inc., St. Louis, MO ); Daum, P.H.; Schwartz, S.E. ); Leaitch, W.R.; Strapp, J.W.; Isaac, G.A. . Cloud Physics Research Div.)

    1991-07-01

    The degree of activation of accumulation-mode particles (AMP) in clouds has been studied using continuous (1 second average) aircraft measurements of the number concentrations of cloud droplets (N[sub cd], 2 to 35 [mu]m diameter) and of unactivated AMP (N[sub amp], 0.17 to 2.07 [mu]m diameter) in cloud interstitial air. The magnitude and spatial variation of the activated fraction (F) of all measured particles (defined as F [triple bond] N[sub cd]/N[sub tot], where N[sub tot] = N[sub cd] + N[sub amp]) are investigated, based on measurements made during ten aircraft flights in non-precipitating warm continental stratiform clouds near Syracuse NY in the fall of 1984. Based on instantaneous observations throughout the clouds, the spatial distribution of F was found to be quite nonuniform. In general, F was low in cloud edges and where total particle loading was high and/or cloud convective activity was low. In the interior of clouds, the value of F exceeded 0.9 for 36% of the data, but was below 0.6 for 28%. Factors influencing F the most were the total particle loading (N[sub tot]) and the thermal stability of the cloud layer. The dependence of F on N[sub tot] in cloud interior was characterized by two distinct regimes. For N[sub tot] < 600 cm[sup [minus]3], F was generally close to unity and relatively insensitive to N[sub tot]. For N[sub tot] > 800 cm[sup [minus]3], F tended to decrease with increasing N[sub tot]. This decrease was greatest in a stable stratus deck embedded in a warm moist airmass. The results suggest that, in warm continental stratiform clouds, the process of particle activation becomes nonlinear and self-limiting at high particle loading. The degree of this nonlinearity depends on cloud convective activity (thermal instability).

  8. Effect of activation mode on shear bond strength of metallic brackets.

    PubMed

    Correr, Américo Bortolazzo; Costa, Ana Rosa; Lucato, Adriana Simoni; Vedovello, Silvia Amélia; Valdrighi, Heloísa Cristina; Vedovello Filho, Mário; Correr-Sobrinho, Lourenço

    2013-01-01

    The aim of this study was to evaluate the shear bond strength (SBS) of metallic orthodontic brackets bonded to bovine teeth using light-activated or chemically activated composite resins. One hundred and twenty bovine mandibular incisors were divided into 6 groups (n=20), according to the bonding materials: Transbond XT (T); Enforce Dual (ED); Enforce chemical (EC); Enforce Light-activated (EL); Concise Orthodontic (C); and RelyX Unicem Capsule (UN). Metallic brackets were positioned and firmly bonded to the teeth. Light-activation for T, ED, EL and UN was carried out with four exposures on each side of the bracket with 20 s total exposure times using XL2500 (3M ESPE). EC and C were chemically cured. Next, all specimens were stored in deionized water at 37 °C for 24 h. The shear bond strength was carried out at a crosshead speed of 1.0 mm/min. Data were subjected to one-way ANOVA and Tukey's test (α=0.05). The adhesive remnant index (ARI) was evaluated at 8× magnification. C (17.72 ± 4.45) presented significantly higher SBS means (in MPa) than the other groups (p<0.05), followed by EC (11.97 ± 5.77) and ED (10.57 ± 1.32). EL (5.39 ± 1.06) and UN (4.32 ± 1.98) showed the lowest SBS means, while T (9.09 ± 2.56) showed intermediate values. For ARI, there was a predominance of score 0 for EC, C and UN, and score 3 for T, ED and EL. In conclusion, the activation mode influenced the SBS.

  9. Tape-recorded Lectures With Slide Synchronization

    ERIC Educational Resources Information Center

    Goodhue, D.

    1969-01-01

    Describes "Taped Explanation Slide Synchronization" programs used for individual study or group showing in college zoology. Discusses preparation of programs, class organization, equipment, and costs. (EB)

  10. Cavity growth on a sliding grain boundary

    SciTech Connect

    I-Wei Chen

    1983-11-01

    Cavity growth on a sliding grain boundary to which a normal stress is applied is found to be faster than that on a stationary grain boundary. The morphology of the cavity contains an asymmetric crack-like tip which prompts surface diffusion locally when the sliding is dominant, and the growth rate becomes proportional to the third power of the normal stress independent of the sliding rate. Since the sliding rates of all grain boundaries are statistically comparable, only the normal stress dependence remains important. The conditions which favor the present mechanism are examined and shown to be in good agreement with the experimental evidence in creep cavitation.

  11. Comparison of the activation time effects and the internal energy distributions for the CID, PQD and HCD excitation modes.

    PubMed

    Ichou, Farid; Schwarzenberg, Adrian; Lesage, Denis; Alves, Sandra; Junot, Christophe; Machuron-Mandard, Xavier; Tabet, Jean-Claude

    2014-06-01

    Reproducibility among different types of excitation modes is a major bottleneck in the field of tandem mass spectrometry library development in metabolomics. In this study, we specifically evaluated the influence of collision voltage and activation time parameters on tandem mass spectrometry spectra for various excitation modes [collision-induced dissociation (CID), pulsed Q dissociation (PQD) and higher-energy collision dissociation (HCD)] of Orbitrap-based instruments. For this purpose, internal energy deposition was probed using an approach based on Rice-Rampserger-Kassel-Marcus modeling with three thermometer compounds of different degree of freedom (69, 228 and 420) and a thermal model. This model treats consecutively the activation and decomposition steps, and the survival precursor ion populations are characterized by truncated Maxwell-Boltzmann internal energy distributions. This study demonstrates that the activation time has a significant impact on MS/MS spectra using the CID and PQD modes. The proposed model seems suitable to describe the multiple collision regime in the PQD and HCD modes. Linear relationships between mean internal energy and collision voltage are shown for the latter modes and the three thermometer molecules. These results suggest that a calibration based on the collision voltage should provide reproducible for PQD, HCD to be compared with CID in tandem in space instruments. However, an important signal loss is observed in PQD excitation mode whatever the mass of the studied compounds, which may affect not only parent ions but also fragment ions depending on the fragmentation parameters. A calibration approach for the CID mode based on the variation of activation time parameter is more appropriate than one based on collision voltage. In fact, the activation time parameter in CID induces a modification of the collisional regime and thus helps control the orientation of the fragmentation pathways (competitive or consecutive dissociations).

  12. Broad spectrum antibacterial and antifungal polymeric paint materials: synthesis, structure-activity relationship, and membrane-active mode of action.

    PubMed

    Hoque, Jiaul; Akkapeddi, Padma; Yadav, Vikas; Manjunath, Goutham B; Uppu, Divakara S S M; Konai, Mohini M; Yarlagadda, Venkateswarlu; Sanyal, Kaustuv; Haldar, Jayanta

    2015-01-28

    Microbial attachment and subsequent colonization onto surfaces lead to the spread of deadly community-acquired and hospital-acquired (nosocomial) infections. Noncovalent immobilization of water insoluble and organo-soluble cationic polymers onto a surface is a facile approach to prevent microbial contamination. In the present study, we described the synthesis of water insoluble and organo-soluble polymeric materials and demonstrated their structure-activity relationship against various human pathogenic bacteria including drug-resistant strains such as methicillin-resistant Staphylococcus aureus (MRSA), vancomycin-resistant enterococci (VRE), and beta lactam-resistant Klebsiella pneumoniae as well as pathogenic fungi such as Candida spp. and Cryptococcus spp. The polymer coated surfaces completely inactivated both bacteria and fungi upon contact (5 log reduction with respect to control). Linear polymers were more active and found to have a higher killing rate than the branched polymers. The polymer coated surfaces also exhibited significant activity in various complex mammalian fluids such as serum, plasma, and blood and showed negligible hemolysis at an amount much higher than minimum inhibitory amounts (MIAs). These polymers were found to have excellent compatibility with other medically relevant polymers (polylactic acid, PLA) and commercial paint. The cationic hydrophobic polymer coatings disrupted the lipid membrane of both bacteria and fungi and thus showed a membrane-active mode of action. Further, bacteria did not develop resistance against these membrane-active polymers in sharp contrast to conventional antibiotics and lipopeptides, thus the polymers hold great promise to be used as coating materials for developing permanent antimicrobial paint.

  13. High speed sliding of axonemal microtubules produced by outer arm dynein.

    PubMed

    Seetharam, Raviraja N; Satir, Peter

    2005-02-01

    To study dynein arm activity at high temporal resolution, axonemal sliding was measured field by field for wild type and dynein arm mutants of Tetrahymena thermophila. For wt SB255 cells, when the rate of data acquisition was 60 fps, about 5x greater than previously published observations, sliding was observed to be discontinuous with very high velocity sliding (average 196 microm/sec) for a few msec (1 or 2 fields) followed by a pause of several fields. The sliding velocities measured were an order of magnitude greater than rates previously measured by video analysis. However, when the data were analyzed at 12 fps for the same axonemes, consistent with previous observations, sliding was linear as the axonemes extended several times their original length with an average velocity of approximately 10 microm/sec. The pauses or stops occurred at approximately 200 and 300% of the initial length, suggesting that dynein arms on one axonemal doublet were initially active to the limit of extension, and then the arms on the next doublet became activated. In contrast, in a mutant where OADs are missing, sliding observed at 60 fps was continuous and slow (5 microm/sec), as opposed to the discontinuous high-velocity sliding of SB255 and of the mutant at the permissive temperature where OADs are present. High-velocity step-wise sliding was also present in axonemes from an inner arm dynein mutant (KO6). These results indicate that the high-speed discontinuous pattern of sliding is produced by the mechanochemical activity of outer arm dynein. The rate of sliding is consistent with a low duty ratio of the outer arm dynein and with the operation of each arm along a doublet once per beat.

  14. Using online computer tailoring to promote physical activity: a randomized trial of text, video, and combined intervention delivery modes.

    PubMed

    Soetens, Katja C M; Vandelanotte, Corneel; de Vries, Hein; Mummery, Kerry W

    2014-12-01

    Website-delivered interventions are increasingly used to deliver physical activity interventions, yet problems with engagement and retention result in reduced effectiveness. Hence, alternative modes of online intervention delivery need to be explored. Therefore, this study aimed to evaluate the acceptability and effectiveness of a computer-tailored physical activity intervention delivered on the Internet in 3 delivery modes: video, text, or both. Australian adults (N = 803), recruited through e-mail, were randomized into the three delivery modes and received personal physical activity advice. Intervention content was identical across groups. Repeated measures analyses of variance were used to compare the three groups regarding acceptability, website usability, and physical activity. Participants in the video group accepted the content of the physical activity advice significantly better (F = 5.59; p < .01), and spent significantly more time on the website (F = 21.19; p < .001) compared with the text and combination groups. Total physical activity improved significantly over time in all groups (F = 3.95; p < .01). Although the combination group increased physical activity the most, few significant differences between groups were observed. Providing video-tailored feedback has advantages over the conventional text-tailored interventions; however, this study revealed few behavioral differences. More studies, examining alternative delivery modes, that can overcome the limitations of the present study, are needed.

  15. Towards identifying the dynamics of sliding by acoustic emission and vibration

    NASA Astrophysics Data System (ADS)

    Korchuganov, M. A.; Filippov, A. V.; Tarasov, S. Yu.; Podgornyh, O. A.; Shamarin, N. N.; Filippova, E. O.

    2016-11-01

    The results of experiments with high load and sliding speed sliding conditions on tribologically mated pairs such as steel 1045/steel 1045 (test 1), steel 1045/basalt (test 2) and Hadfield steel/basalt (test 3) have been carried out in order to identify their response in terms of the acoustic emission and vibration signals. The steel to rock and rock to steel transfer has been revealed by examining the worn surfaces of both steel and rock samples with the use of laser scanning microscopy. The AE signal characteristics have been determined for the tribological pairs studied. The dynamics of sliding has been evaluated by measuring the vibration accelerations. Relationship between wear mode and either acoustic emission signal or vibration signal has been established. The minimal vibration oscillations amplitude and acoustic emission signal energy have been found out in sliding Hadfield steel/basalt pair.

  16. Heat Transfer Measurements with Surface Mounted Foil-Sensors in an Active Mode: A Comprehensive Review and a New Design

    PubMed Central

    Mocikat, Horst; Herwig, Heinz

    2009-01-01

    A comprehensive review of film-sensors shows that they are primarily operated in a passive mode, i.e. without being actively heated to an extent, whereby they create a heat transfer situation on their own. Only when these sensors are used for wall shear stress measurements, the detection of laminar/turbulent transition, or the measurement of certain flow velocities, they are operated in an active mode, i.e. heated by an electrical current (after an appropriate calibration). In our study we demonstrate how these R(T)-based sensors (temperature dependence of the electrical resistance R) can also be applied in an active mode for heat transfer measurements. These measurements can be made on cold, unheated bodies, provided certain requirements with respect to the flow field are fulfilled. Our new sensors are laminated nickel- and polyimide-foils manufactured with a special technology, which is also described in detail. PMID:22574060

  17. Exploring the DNA binding mode of transition metal based biologically active compounds

    NASA Astrophysics Data System (ADS)

    Raman, N.; Sobha, S.

    2012-01-01

    Few novel 4-aminoantipyrine derived Schiff bases and their metal complexes were synthesized and characterized. Their structural features and other properties were deduced from the elemental analysis, magnetic susceptibility and molar conductivity as well as from mass, IR, UV-vis, 1H NMR and EPR spectral studies. The binding of the complexes with CT-DNA was analyzed by electronic absorption spectroscopy, viscosity measurement, and cyclic voltammetry. The interaction of the metal complexes with DNA was also studied by molecular modeling with special reference to docking. The experimental and docking results revealed that the complexes have the ability of interaction with DNA of minor groove binding mode. The intrinsic binding constants ( Kb) of the complexes with CT-DNA were found out which show that they are minor groove binders. Gel electrophoresis assay demonstrated the ability of the complexes to cleave the pUC19 DNA in the presence of AH 2 (ascorbic acid). Moreover, the oxidative cleavage studies using distamycin revealed the minor groove binding for the newly synthesized 4-aminoantipyrine derived Schiff bases and their metal complexes. Evaluation of antibacterial activity of the complexes against Staphylococcus aureus, Pseudomonas aeruginosa, Escherichia coli, Staphylococcus epidermidis, and Klebsiella pneumoniae exhibited that the complexes have potent biocidal activity than the free ligands.

  18. Gamma-radiation-induced degradation of actively pumped single-mode ytterbium-doped optical fibers

    NASA Astrophysics Data System (ADS)

    Singleton, B.; Petrosky, J.; Pochet, M.; Usechak, N. G.; Francis, S. A.

    2014-03-01

    The integration of optical components into the digital processing units of satellite subsystems has the potential to remove interconnect bottlenecks inherent to the volume, mass, complexity, reliability and crosstalk issues of copper-based interconnects. Assuming on-board high-bandwidth communications will utilize passive optical fibers as a communication channel, this work investigates the impact of gamma irradiation from a Co-60 source on both passive optical fibers and ytterbium-doped single-mode fibers operated as amplifiers for a 1060-nm light source. Standard optical patch cables were evaluated along with active Yb-doped double-clad fibers. Varied exposure times and signal transmission wavelengths were used to investigate the degradation of the fibers exposed to total doses above 100 krad (Si). The effect on the amplified signal gain was studied for the Yb-doped fibers. The increased attenuation in the fibers across a broad wavelength range in response to multiple levels of gamma radiation exposure along with the effect that the increased attenuation has on the actively pumped Yb-doped fiber amplifier performance, is discussed.

  19. Mapping inhibitor binding modes on an active cysteine protease via nuclear magnetic resonance spectroscopy.

    PubMed

    Lee, Gregory M; Balouch, Eaman; Goetz, David H; Lazic, Ana; McKerrow, James H; Craik, Charles S

    2012-12-18

    Cruzain is a member of the papain/cathepsin L family of cysteine proteases, and the major cysteine protease of the protozoan Trypanosoma cruzi, the causative agent of Chagas disease. We report an autoinduction methodology that provides soluble cruzain in high yields (>30 mg/L in minimal medium). These increased yields provide sufficient quantities of active enzyme for use in nuclear magnetic resonance (NMR)-based ligand mapping. Using circular dichroism and NMR spectroscopy, we also examined the solution-state structural dynamics of the enzyme in complex with a covalently bound vinyl sulfone inhibitor (K777). We report the backbone amide and side chain carbon chemical shift assignments of cruzain in complex with K777. These resonance assignments were used to identify and map residues located in the substrate binding pocket, including the catalytic Cys25 and His162. Selective [(15)N]Cys, [(15)N]His, and [(13)C]Met labeling was performed to quickly assess cruzain-ligand interactions for a set of eight low-molecular weight compounds exhibiting micromolar binding or inhibition. Chemical shift perturbation mapping verified that six of the eight compounds bind to cruzain at the active site. Three different binding modes were delineated for the compounds, namely, covalent, noncovalent, and noninteracting. These results provide examples of how NMR spectroscopy can be used to screen compounds for fast evaluation of enzyme-inhibitor interactions to facilitate lead compound identification and subsequent structural studies.

  20. Resting spontaneous activity in the default mode network predicts performance decline during prolonged attention workload.

    PubMed

    Gui, Danyang; Xu, Sihua; Zhu, Senhua; Fang, Zhuo; Spaeth, Andrea M; Xin, Yuanyuan; Feng, Tingyong; Rao, Hengyi

    2015-10-15

    After continuous and prolonged cognitive workload, people typically show reduced behavioral performance and increased feelings of fatigue, which are known as "time-on-task (TOT) effects". Although TOT effects are pervasive in modern life, their underlying neural mechanisms remain elusive. In this study, we induced TOT effects by administering a 20-min continuous psychomotor vigilance test (PVT) to a group of 16 healthy adults and used resting-state blood oxygen level-dependent (BOLD) functional magnetic resonance imaging (fMRI) to examine spontaneous brain activity changes associated with fatigue and performance. Behaviorally, subjects displayed robust TOT effects, as reflected by increasingly slower reaction times as the test progressed and higher self-reported mental fatigue ratings after the 20-min PVT. Compared to pre-test measurements, subjects exhibited reduced amplitudes of low-frequency fluctuation (ALFF) in the default mode network (DMN) and increased ALFF in the thalamus after the test. Subjects also exhibited reduced anti-correlations between the posterior cingulate cortex (PCC) and right middle prefrontal cortex after the test. Moreover, pre-test resting ALFF in the PCC and medial prefrontal cortex (MePFC) predicted subjects' subsequent performance decline; individuals with higher ALFF in these regions exhibited more stable reaction times throughout the 20-min PVT. These results support the important role of both task-positive and task-negative networks in mediating TOT effects and suggest that spontaneous activity measured by resting-state BOLD fMRI may be a marker of mental fatigue.

  1. The MODE family of on-orbit experiments: The Middeck Active Control Experiment (MACE)

    NASA Technical Reports Server (NTRS)

    Crawley, Edward F.; Miller, David W.; Deluis, Javier; Waldman, Mel; Bicos, Andy

    1990-01-01

    A flight experiment entitled the Middeck Active Control Experiment (MACE), proposed by the Space Engineering Research Center (SERC) at the Massachusetts Institute of Technology, is described. This is the second in a family of flight experiments being developed at MIT. The first is the Middeck 0-Gravity Dynamics Experiment (MODE) which investigates the nonlinear behavior of contained fluids and truss structures in zero gravity. The objective of the MACE program is to investigate and validate the modeling of the dynamics of an actively controlled flexible, articulating, multibody platform free floating in zero gravity. A rationale and experimental approach for the program are presented. The rationale shows that on-orbit testing, coupled with ground testing and a strong analytical program, is necessary in order to fully understand both how flexibility of the platform affects the pointing problem, as well as how gravity perturbs this structural flexibility causing deviations between 1- and 0-gravity behavior. The experimental approach captures the essential physics of multibody platforms, by identifying the appropriate attributes, tests, and performance metrics of the test article and defines the tests required to successfully validate the analytical framework.

  2. PCB bioavailability control in Lumbriculus variegatus through different modes of activated carbon addition to sediments

    SciTech Connect

    Xueli Sun; Upal Ghosh

    2007-07-01

    PCB bioavailability to a freshwater oligochaete (Lumbriculus variegatus) was studied using sediments from a PCB-impacted river that was treated with different modes of granular activated carbon (GAC) addition. The GAC used was bituminous coal-based type TOP. For sediment treated with 2.6% GAC and mixed for 2 min prior to L. variegatus addition, the reduction in total PCB biouptake was 70% for 75-300 {mu}m size carbon, and 92% for the 45-180 {mu}m size carbon. For the case where the GAC was placed as a thin layer on top of the sediments without mixing, the reduction in total PCB uptake was 70%. PCB biouptake kinetics study using treated and untreated sediment showed that the maximum PCB uptake in tissue was achieved at 28 days and decreased after that time. Although the absolute uptake of PCB changed over time, the percent reduction in total PCB uptake upon GAC amendment remained constant after the first few days. Our results indicated that PCB bioavailability was reduced upon the addition and little or no mixing of GAC into sediments. PCB aqueous equilibrium concentration and desorption rates were greatly reduced after GAC amendment, indicating reductions in the two primary mechanisms of PCB bioavailability in sediments: chemical activity and chemical accessibility. 29 refs., 5 figs., 1 tab.

  3. PCB bioavailability control in Lumbriculus variegatus through different modes of activated carbon addition to sediments.

    PubMed

    Sun, Xueli; Ghosh, Upal

    2007-07-01

    PCB bioavailability to a freshwater oligochaete (Lumbriculus variegatus) was studied using sediments from a PCB-impacted river that was treated with different modes of granular activated carbon (GAC) addition. For sedimenttreated with 2.6% GAC and mixed for 2 min prior to L. variegatus addition, the reduction in total PCB biouptake was 70% for 75-300 microm size carbon, and 92% for the 45-180 microm size carbon. For the case where the GAC was placed as a thin layer on top of the sediments without mixing, the reduction in total PCB uptake was 70%. PCB biouptake kinetics study using treated and untreated sediment showed that the maximum PCB uptake in tissue was achieved at 28 days and decreased after that time. Although the absolute uptake of PCB changed over time, the percent reduction in total PCB uptake upon GAC amendment remained constant after the first few days. Our results indicated that PCB bioavailability was reduced upon the addition and little or no mixing of GAC into sediments. PCB aqueous equilibrium concentration and desorption rates were greatly reduced after GAC amendment, indicating reductions in the two primary mechanisms of PCB bioavailability in sediments: chemical activity and chemical accessibility.

  4. The unrested resting brain: sleep deprivation alters activity within the default-mode network.

    PubMed

    Gujar, Ninad; Yoo, Seung-Schik; Hu, Peter; Walker, Matthew P

    2010-08-01

    The sleep-deprived brain has principally been characterized by examining dysfunction during cognitive task performance. However, far less attention has been afforded the possibility that sleep deprivation may be as, if not more, accurately characterized on the basis of abnormal resting-state brain activity. Here we report that one night of sleep deprivation significantly disrupts the canonical signature of task-related deactivation, resulting in a double dissociation within anterior as well as posterior midline regions of the default network. Indeed, deactivation within these regions alone discriminated sleep-deprived from sleep-control subjects with a 93% degree of sensitivity and 92% specificity. In addition, the relative balance of deactivation within these default nodes significantly correlated with the amount of prior sleep in the control group (and not extended time awake in the deprivation group). Therefore, the stability and the balance of task-related deactivation in key default-mode regions may be dependent on prior sleep, such that a lack thereof disrupts this signature pattern of brain activity, findings that may offer explanatory insights into conditions associated with sleep loss at both a clinical as well as societal level.

  5. Exploring the DNA binding mode of transition metal based biologically active compounds.

    PubMed

    Raman, N; Sobha, S

    2012-01-01

    Few novel 4-aminoantipyrine derived Schiff bases and their metal complexes were synthesized and characterized. Their structural features and other properties were deduced from the elemental analysis, magnetic susceptibility and molar conductivity as well as from mass, IR, UV-vis, (1)H NMR and EPR spectral studies. The binding of the complexes with CT-DNA was analyzed by electronic absorption spectroscopy, viscosity measurement, and cyclic voltammetry. The interaction of the metal complexes with DNA was also studied by molecular modeling with special reference to docking. The experimental and docking results revealed that the complexes have the ability of interaction with DNA of minor groove binding mode. The intrinsic binding constants (K(b)) of the complexes with CT-DNA were found out which show that they are minor groove binders. Gel electrophoresis assay demonstrated the ability of the complexes to cleave the pUC19 DNA in the presence of AH(2) (ascorbic acid). Moreover, the oxidative cleavage studies using distamycin revealed the minor groove binding for the newly synthesized 4-aminoantipyrine derived Schiff bases and their metal complexes. Evaluation of antibacterial activity of the complexes against Staphylococcus aureus, Pseudomonas aeruginosa, Escherichia coli, Staphylococcus epidermidis, and Klebsiella pneumoniae exhibited that the complexes have potent biocidal activity than the free ligands.

  6. The MODE family of on-orbit experiments: The Middeck Active Control Experiment (MACE)

    NASA Astrophysics Data System (ADS)

    Crawley, Edward F.; Miller, David W.; Deluis, Javier; Waldman, Mel; Bicos, Andy

    1990-12-01

    A flight experiment entitled the Middeck Active Control Experiment (MACE), proposed by the Space Engineering Research Center (SERC) at the Massachusetts Institute of Technology, is described. This is the second in a family of flight experiments being developed at MIT. The first is the Middeck 0-Gravity Dynamics Experiment (MODE) which investigates the nonlinear behavior of contained fluids and truss structures in zero gravity. The objective of the MACE program is to investigate and validate the modeling of the dynamics of an actively controlled flexible, articulating, multibody platform free floating in zero gravity. A rationale and experimental approach for the program are presented. The rationale shows that on-orbit testing, coupled with ground testing and a strong analytical program, is necessary in order to fully understand both how flexibility of the platform affects the pointing problem, as well as how gravity perturbs this structural flexibility causing deviations between 1- and 0-gravity behavior. The experimental approach captures the essential physics of multibody platforms, by identifying the appropriate attributes, tests, and performance metrics of the test article and defines the tests required to successfully validate the analytical framework.

  7. eSlide suite: an open source software system for whole slide imaging.

    PubMed

    Della Mea, V; Bortolotti, N; Beltrami, C A

    2009-08-01

    This short report briefly describes the principles underlying the telepathology technique known as whole slide imaging, and the design and implementation of a system for acquisition and visualisation of digital slides. The developed system, including an acquisition module and a visualisation module, is available as an open source on the Internet, together with sample acquired slides.

  8. Impact of major and minor mode on EEG frequency range activities of music processing as a function of expertise.

    PubMed

    Jenni, Raoul; Oechslin, Mathias S; James, Clara E

    2017-04-24

    Processing western tonal music may yield distinct brain responses depending on the mode of the musical compositions. Although subjective feelings in response to major and minor mode are well described, the underlying brain mechanisms and their development with increasing expertise have not been thoroughly examined. Using high-density electroencephalography, the present study investigated neuronal activities in the frequency domain in response to polyphone musical compositions in major and minor mode in non-musicians, amateurs and experts. During active listening decrease of theta- and gamma-frequency range activities occurred with increasing expertise in right posterior regions, possibly reflecting enhanced processing efficiency. Moreover, minor and major compositions distinctively modulated synchronization of neuronal activities in high frequency ranges (beta and gamma) in frontal regions, with increased activity in response to minor compositions in musicians and in experts in particular. These results suggest that high-frequency electroencephalographic (EEG) activities carry information about musical mode, showing gradual increase of processing efficiency and sensitivity with musical expertise.

  9. Sliding Over a Phase Transition

    NASA Astrophysics Data System (ADS)

    Tosatti, Erio; Benassi, Andrea; Vanossi, Andrea; Santoro, Giuseppe E.

    2011-03-01

    The frictional response experienced by a stick-slip slider when a phase transition occurs in the underlying solid substrate is a potentially exciting, poorly explored problem. We show, based on 2-dimensional simulations modeling the sliding of a nanotip, that indeed friction may be heavily affected by a continuous structural transition. First, friction turns nonmonotonic as temperature crosses the transition, peaking at the critical temperature Tc where fluctuations are strongest. Second, below Tc friction depends upon order parameter directions, and is much larger for those where the frictional slip can cause a local flip. This may open a route towards control of atomic scale friction by switching the order parameter direction by an external field or strain, with possible application to e.g., displacive ferroelectrics such as BaTi O3 , as well as ferro- and antiferro-distortive materials. Supported by project ESF FANAS/AFRI sponsored by the Italian Research Council (CNR).

  10. On sliding of a puck

    NASA Astrophysics Data System (ADS)

    Samsonov, V. A.

    2013-09-01

    Aleksandr Yul'evich Ishlinsky liked to consider a problem with some "special thrill" at the end of the Seminar meeting of the Chair of Applied Mathematics at the Faculty of Mechanics and Mathematics at M. V. Lomonosov Moscow State University. For example, in 1978 he asked the author of this paper to describe the process of sliding of a rotating hockey puck on ice. Somewhat later, on such a seminar, the author made his report and demonstrated the experimental results, which was approved by Aleksandr Yul'evich. But the small paper on this topic, delivered to the journal "Vestnik Moskovskogo Universiteta," was published only in 1981 [1] thanks to the support of Valentin Vitalievich Rumyantsev. The author thanks the Editorial Board of this journal for the possibility of discussing one of "Ishlinsky's problems" once again.

  11. Peeling, sliding, pulling and bending

    NASA Astrophysics Data System (ADS)

    Lister, John; Peng, Gunnar

    2015-11-01

    The peeling of an elastic sheet away from thin layer of viscous fluid is a simply-stated and generic problem, that involves complex interactions between the flow and elastic deformation on a range of length scales. Consider an analogue of capillary spreading, where a blister of injected viscous fluid spreads due to tension in the overlying elastic sheet. Here the tension is coupled to the deformation of the sheet, and thus varies in time and space. A key question is whether or not viscous shear stresses ahead of the blister are sufficient to prevent the sheet sliding inwards and relieving the tension. Our asymptotic analysis reveals a dichotomy between fast and slow spreading, and between two-dimensional and axisymmetric spreading. In combination with bending stresses and gravity, which may dominate parts of the flow but not others, there is a plethora of dynamical regimes.

  12. Peeling, sliding, pulling and bending

    NASA Astrophysics Data System (ADS)

    Lister, John; Peng, Gunnar

    2016-11-01

    The peeling of an elastic sheet away from thin layer of viscous fluid is a simply-stated and generic problem, that involves complex interactions between the flow and elastic deformation on a range of length scales. Consider an analogue of capillary spreading, where a blister of injected viscous fluid spreads due to tension in the overlying elastic sheet. Here the tension is coupled to the deformation of the sheet, and thus varies in time and space. A key question is whether or not viscous shear stresses ahead of the blister are sufficient to prevent the sheet sliding inwards and relieving the tension. Our asymptotic analysis reveals a dichotomy between fast and slow spreading, and between two-dimensional and axisymmetric spreading. In combination with bending stresses and gravity, which may dominate parts of the flow but not others, there is a plethora of dynamical regimes.

  13. Colorimetry and SERS dual-mode detection of telomerase activity: combining rapid screening with high sensitivity

    NASA Astrophysics Data System (ADS)

    Zong, Shenfei; Wang, Zhuyuan; Chen, Hui; Hu, Guohua; Liu, Min; Chen, Peng; Cui, Yiping

    2014-01-01

    As an important biomarker and therapeutic target, telomerase has attracted considerable attention concerning its detection and monitoring. Here, we present a colorimetry and surface enhanced Raman scattering (SERS) dual-mode telomerase activity detection method, which has several distinctive advantages. First, colorimetric functionality allows rapid preliminary discrimination of telomerase activity by the naked eye. Second, the employment of SERS technique results in greatly improved detection sensitivity. Third, the combination of colorimetry and SERS into one detection system can ensure highly efficacious and sensitive screening of numerous samples. Besides, the avoidance of polymerase chain reaction (PCR) procedures further guarantees fine reliability and simplicity. Generally, the presented method is realized by an ``elongate and capture'' procedure. To be specific, gold nanoparticles modified with Raman molecules and telomeric repeat complementary oligonucleotide are employed as the colorimetric-SERS bifunctional reporting nanotag, while magnetic nanoparticles functionalized with telomerase substrate oligonucleotide are used as the capturing substrate. Telomerase can synthesize and elongate telomeric repeats onto the capturing substrate. The elongated telomeric repeats subsequently facilitate capturing of the reporting nanotag via hybridization between telomeric repeat and its complementary strand. The captured nanotags can cause a significant difference in the color and SERS intensity of the magnetically separated sediments. Thus both the color and SERS can be used as indicators of the telomerase activity. With fast screening ability and outstanding sensitivity, we anticipate that this method would greatly promote practical application of telomerase-based early-stage cancer diagnosis.As an important biomarker and therapeutic target, telomerase has attracted considerable attention concerning its detection and monitoring. Here, we present a colorimetry and

  14. The Self-Pleasantness Judgment Modulates the Encoding Performance and the Default Mode Network Activity

    PubMed Central

    Perrone-Bertolotti, Marcela; Cerles, Melanie; Ramdeen, Kylee T.; Boudiaf, Naila; Pichat, Cedric; Hot, Pascal; Baciu, Monica

    2016-01-01

    In this functional magnetic resonance imaging (fMRI) study, we evaluated the effect of self-relevance on cerebral activity and behavioral performance during an incidental encoding task. Recent findings suggest that pleasantness judgments reliably induce self-oriented (internal) thoughts and increase default mode network (DMN) activity. We hypothesized that this increase in DMN activity would relate to increased memory recognition for pleasantly-judged stimuli (which depend on internally-oriented attention) but decreased recognition for unpleasantly-judged items (which depend on externally-oriented attention). To test this hypothesis, brain activity was recorded from 21 healthy participants while they performed a pleasantness judgment requiring them to rate visual stimuli as pleasant or unpleasant. One hour later, participants performed a surprise memory recognition test outside of the scanner. Thus, we were able to evaluate the effects of pleasant and unpleasant judgments on cerebral activity and incidental encoding. The behavioral results showed that memory recognition was better for items rated as pleasant than items rated as unpleasant. The whole brain analysis indicated that successful encoding (SE) activates the inferior frontal and lateral temporal cortices, whereas unsuccessful encoding (UE) recruits two key medial posterior DMN regions, the posterior cingulate cortex (PCC) and precuneus (PCU). A region of interest (ROI) analysis including classic DMN areas, revealed significantly greater involvement of the medial prefrontal cortex (mPFC) in pleasant compared to unpleasant judgments, suggesting this region’s involvement in self-referential (i.e., internal) processing. This area may be responsible for the greater recognition performance seen for pleasant stimuli. Furthermore, a significant interaction between the encoding performance (successful vs. unsuccessful) and pleasantness was observed for the PCC, PCU and inferior frontal gyrus (IFG). Overall, our

  15. Development of Radar Control system for Multi-mode Active Phased Array Radar for atmospheric probing

    NASA Astrophysics Data System (ADS)

    Yasodha, Polisetti; Jayaraman, Achuthan; Thriveni, A.

    2016-07-01

    Modern multi-mode active phased array radars require highly efficient radar control system for hassle free real time radar operation. The requirement comes due to the distributed architecture of the active phased array radar, where each antenna element in the array is connected to a dedicated Transmit-Receive (TR) module. Controlling the TR modules, which are generally few hundreds in number, and functioning them in synchronisation, is a huge task during real time radar operation and should be handled with utmost care. Indian MST Radar, located at NARL, Gadanki, which is established during early 90's, as an outcome of the middle atmospheric program, is a remote sensing instrument for probing the atmosphere. This radar has a semi-active array, consisting of 1024 antenna elements, with limited beam steering, possible only along the principle planes. To overcome the limitations and difficulties, the radar is being augmented into fully active phased array, to accomplish beam agility and multi-mode operations. Each antenna element is excited with a dedicated 1 kW TR module, located in the field and enables to position the radar beam within 20° conical volume. A multi-channel receiver makes the radar to operate in various modes like Doppler Beam Swinging (DBS), Spaced Antenna (SA), Frequency Domain Interferometry (FDI) etc. Present work describes the real-time radar control (RC) system for the above described active phased array radar. The radar control system consists of a Spartan 6 FPGA based Timing and Control Signal Generator (TCSG), and a computer containing the software for controlling all the subsystems of the radar during real-time radar operation and also for calibrating the radar. The main function of the TCSG is to generate the control and timing waveforms required for various subsystems of the radar. Important components of the RC system software are (i) TR module configuring software which does programming, controlling and health parameter monitoring of the

  16. Longitudinal changes of amygdala and default mode activation in adolescents prenatally exposed to cocaine

    PubMed Central

    Li, Zhihao; Coles, Claire D.; Lynch, Mary Ellen; Luo, Yuejia; Hu, Xiaoping

    2015-01-01

    Prenatal cocaine exposure (PCE) is associated with long-term and negative effect on arousal regulation. Recent neuroimaging studies have examined brain mechanisms related to arousal dysregulation with cross-sectional experimental designs; but longitudinal changes in the brain, reflecting group differences in neurodevelopment, have never been directly examined. To directly assess the interaction of PCE and neurodevelopment, the present study used a longitudinal design to analyze functional magnetic resonance imaging (fMRI) data collected from 33 adolescents (21 with PCE and 12 non-exposed controls) while they performed the same working memory task with emotional distracters at two points in time. The mean age of participants was 14.3 years at time_1 and 16.7 years at time_2. With confounding factors statistically controlled, the fMRI data revealed significant exposure-by-time interaction in the activations of the amygdala and default mode network (DMN). For the control adolescents, brain activations associated with emotional arousal (amygdala) and cognitive effort (DMN) were both reduced at time_2 as compared to that at time_1. However, these activation reductions were not observed in the PCE group, indicating persistently high levels of emotional arousal and cognitive effort. In addition, correlations between longitudinal changes in the brain and in behavior have shown that adolescents with persistently high emotional arousal were more likely in need of high cognitive effort; and their cognitive performance was more likely to be affected by distractive challenges. The present results complement and extend previous findings from cross-sectional studies with further evidence supporting the view of PCE associated long-term teratogenic effects on arousal regulation. PMID:26577285

  17. Modeling the Sliding/Falling Ladder Paradox

    ERIC Educational Resources Information Center

    Fox, William P.; Fox, James B.

    2003-01-01

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

  18. Getting Clever with the Sliding Ladder

    ERIC Educational Resources Information Center

    De, Subhranil

    2014-01-01

    The familiar system involving a uniform ladder sliding against a vertical wall and a horizontal floor is considered again. The floor is taken to be smooth and the wall to be possibly rough--a situation where no matter how large the static friction coefficient between the ladder and the wall, the ladder cannot lean at rest and must slide down.…

  19. New slide test for infectious mononucleosis

    PubMed Central

    Davidson, R. J. L.

    1967-01-01

    The rapid and simple slide test for infectious mononucleosis designed by Hoff and Bauer (1965) is designed and compared with a modified sheep-cell slide screening test (Maloney and Malzone, 1949) and the differentenial absorption technique (Davidson, 1937). The claim of Hoff and Bauer that their test is more `specific' is substantiated. Brief clinical histories illustrate the argument. PMID:5628856

  20. The Cancer Digital Slide Archive - TCGA

    Cancer.gov

    Dr. David Gutman and Dr. Lee Cooper developed The Cancer Digital Slide Archive (CDSA), a web platform for accessing pathology slide images of TCGA samples. Find out how they did it and how to use the CDSA website in this Case Study.

  1. Sliding indirect hernia containing both ovaries.

    PubMed

    Fowler, Carol L

    2005-09-01

    Although sliding indirect inguinal hernias containing the ipsilateral ovary and fallopian tube are not uncommon in infant girls, sliding hernias containing both ovaries are rare. This report describes a large indirect inguinal hernia in a 1-year-old infant girl that contained the left uterine fundus, left bladder ear, as well as both ovaries and fallopian tubes.

  2. [Heritage Education Lesson Plans and Slide Presentations].

    ERIC Educational Resources Information Center

    Van Buren, Maurie

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

  3. Structure-activity relationship in the oxazolidinone-quinolone hybrid series: influence of the central spacer on the antibacterial activity and the mode of action.

    PubMed

    Hubschwerlen, Christian; Specklin, Jean-Luc; Baeschlin, Daniel K; Borer, Yves; Haefeli, Sascha; Sigwalt, Christine; Schroeder, Susanne; Locher, Hans H

    2003-12-01

    Oxazolidinone-quinolone hybrids, which combine the pharmacophores of a quinolone and an oxazolidinone, were synthesised and shown to be active against a variety of susceptible and resistant Gram-positive and Gram-negative bacteria. The nature of the spacer greatly influences the antibacterial activity by directing the mode of action, that is quinolone- and/or oxazolidinone-like activity. The best compounds in this series have a balanced dual mode of action and overcome all types of resistance, including resistance to quinolones and linezolid, in clinically relevant Gram-positive pathogens.

  4. The Southern Annular Mode determines interannual and centennial-scale fire activity in temperate southwest Tasmania, Australia

    NASA Astrophysics Data System (ADS)

    Mariani, Michela; Fletcher, Michael-Shawn

    2016-02-01

    Southern Annular Mode (SAM) is the primary mode of atmospheric variability in the Southern Hemisphere. While it is well established that the current anthropogenic-driven trend in SAM is responsible for decreased rainfall in southern Australia, its role in driving fire regimes in this region has not been explored. We examined the connection between fire activity and SAM in southwest Tasmania, which lies in the latitudinal band of strongest correlation between SAM and rainfall in the Southern Hemisphere. We reveal that fire activity during a fire season is significantly correlated with the phase of SAM in the preceding year using superposed epoch analysis. We then synthesized new 14 charcoal records from southwest Tasmania spanning the last 1000 years, revealing a tight coupling between fire activity and SAM at centennial timescales, observing a multicentury increase in fire activity over the last 500 years and a spike in fire activity in the 21st century in response to natural and anthropogenic SAM trends.

  5. Percolation, sliding, localization and relaxation in topologically closed circuits

    PubMed Central

    Hurowitz, Daniel; Cohen, Doron

    2016-01-01

    Considering a random walk in a random environment in a topologically closed circuit, we explore the implications of the percolation and sliding transitions for its relaxation modes. A complementary question regarding the “delocalization” of eigenstates of non-hermitian Hamiltonians has been addressed by Hatano, Nelson, and followers. But we show that for a conservative stochastic process the implied spectral properties are dramatically different. In particular we determine the threshold for under-damped relaxation, and observe “complexity saturation” as the bias is increased. PMID:26961586

  6. Percolation, sliding, localization and relaxation in topologically closed circuits

    NASA Astrophysics Data System (ADS)

    Hurowitz, Daniel; Cohen, Doron

    2016-03-01

    Considering a random walk in a random environment in a topologically closed circuit, we explore the implications of the percolation and sliding transitions for its relaxation modes. A complementary question regarding the “delocalization” of eigenstates of non-hermitian Hamiltonians has been addressed by Hatano, Nelson, and followers. But we show that for a conservative stochastic process the implied spectral properties are dramatically different. In particular we determine the threshold for under-damped relaxation, and observe “complexity saturation” as the bias is increased.

  7. Fatigue resistant carbon coatings for rolling/sliding contacts

    SciTech Connect

    Singh, Harpal; Ramirez, Giovanni; Eryilmaz, Osman; Greco, Aaron; Doll, Gary; Erdemir, Ali

    2016-06-01

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

  8. Probing the sliding interactions between bundled actin filaments

    NASA Astrophysics Data System (ADS)

    Ward, Andy; Dogic, Zvonimir

    2011-03-01

    Assemblies of filamentous biopolymers are hierarchical materials in which the properties of the overall assemblage are determined by structure and interactions between constituent particles at all hierarchical levels. For example, the overall bending rigidity of a two bundled filaments greatly depends on the bending rigidity of, and the adhesion strength between individual filaments. However, another property of importance is the ability for the filaments to slide freely against one another. Everyday experience indicates that it is much easier to bend a stack of papers in which individual sheets freely slide past each other than the same stack of papers in which all the sheets are irreversibly glued together. Similarly, in filamentous structures the ability for local re-arrangement is of the utmost importance in determining the properties of the structures observed. In order to study this phenomenon we create bundles of biopolymers by inducing attractive interactions between actin filaments via the depletion mechanism. We find that bundles of actin filaments to do not slide freely across one another. In order to characterize these sliding interactions, we perform active experiments using laser tweezers to pull one filament across the other at constant velocity.

  9. Evidence for a pervasive 'idling-mode' activity template in flying and pedestrian insects.

    PubMed

    Reynolds, Andrew M; Jones, Hayley B C; Hill, Jane K; Pearson, Aislinn J; Wilson, Kenneth; Wolf, Stephan; Lim, Ka S; Reynolds, Don R; Chapman, Jason W

    2015-05-01

    Understanding the complex movement patterns of animals in natural environments is a key objective of 'movement ecology'. Complexity results from behavioural responses to external stimuli but can also arise spontaneously in their absence. Drawing on theoretical arguments about decision-making circuitry, we predict that the spontaneous patterns will be scale-free and universal, being independent of taxon and mode of locomotion. To test this hypothesis, we examined the activity patterns of the European honeybee, and multiple species of noctuid moth, tethered to flight mills and exposed to minimal external cues. We also reanalysed pre-existing data for Drosophila flies walking in featureless environments. Across these species, we found evidence of common scale-invariant properties in their movement patterns; pause and movement durations were typically power law distributed over a range of scales and characterized by exponents close to 3/2. Our analyses are suggestive of the presence of a pervasive scale-invariant template for locomotion which, when acted on by environmental cues, produces the movements with characteristic scales observed in nature. Our results indicate that scale-finite complexity as embodied, for instance, in correlated random walk models, may be the result of environmental cues overriding innate behaviour, and that scale-free movements may be intrinsic and not limited to 'blind' foragers as previously thought.

  10. The membrane protein Pannexin1 forms two open channel conformations depending on the mode of activation

    PubMed Central

    Wang, Junjie; Ambrosi, Cinzia; Qiu, Feng; Jackson, David G.; Sosinsky, Gina; Dahl, Gerhard

    2014-01-01

    Pannexin1 (Panx1) participates in several signaling events that involve ATP release, including the innate immune response, ciliary beat in airway epithelia and oxygen supply in the vasculature. The view that Panx1 forms a large ATP-release channel has been challenged by the association of a low conductance, small anion-selective channel with the presence of Panx1. We showed that Panx1 membrane channels can function in two distinct modes with different conductances and permeabilities when heterologously expressed in Xenopus oocytes. When stimulated by potassium ions (K+), Panx1 formed a high conductance channel of ~500 pS that was permeable to ATP. Various physiological stimuli can induce this ATP-permeable conformation of the channel in several cell types. In contrast, the channel had a low conductance (~50 pS) with no detectable ATP permeability when activated by voltage in the absence of K+. The two channel states were associated with different reactivities of the terminal cysteine of Panx1 to thiol reagents, suggesting different conformations. Single particle electron microscopic analysis revealed that K+ stimulated the formation of channels with a larger pore diameter than those formed in the absence of K+. These data suggest that different stimuli lead to distinct channel structures with distinct biophysical properties. PMID:25056878

  11. KCNE gene expression is dependent on the proliferation and mode of activation of leukocytes

    PubMed Central

    Solé, Laura; Vallejo-Gracia, Albert; Roig, Sara R.; Serrano-Albarrás, Antonio; Marruecos, Laura; Manils, Joan; Gómez, Diana; Soler, Concepció; Felipe, Antonio

    2013-01-01

    Voltage-dependent K+ (Kv) channels are tightly regulated during the immune system response. Leukocytes have a limited repertoire of Kv channels, whose physiological role is under intense investigation. A functional Kv channel is an oligomeric complex composed of pore-forming and ancillary subunits. The KCNE gene family is a novel group of modulatory Kv channel elements in leukocytes. Here, we characterized the gene expression of KCNEs (1–5) in leukocytes and investigated their regulation during leukocyte proliferation and mode of activation. Murine bone-marrow-derived macrophages, human Jurkat T-lymphocytes and human Raji B-cells were analyzed. KCNEs (1–5) are expressed in all leukocytes lineages. Most KCNE mRNAs show cell cycle-dependent regulation and are differentially regulated under specific insults. Our results further suggest a new and yet undefined physiological role for KCNE subunits in the immune system. Putative associations of these ancillary proteins with Kv channels would yield a wide variety of biophysically and pharmacologically distinct channels that fine-tune the immunological response. PMID:23327879

  12. KCNE gene expression is dependent on the proliferation and mode of activation of leukocytes.

    PubMed

    Solé, Laura; Vallejo-Gracia, Albert; Roig, Sara R; Serrano-Albarrás, Antonio; Marruecos, Laura; Manils, Joan; Gómez, Diana; Soler, Concepció; Felipe, Antonio

    2013-01-01

    Voltage-dependent K (+) (Kv) channels are tightly regulated during the immune system response. Leukocytes have a limited repertoire of Kv channels, whose physiological role is under intense investigation. A functional Kv channel is an oligomeric complex composed of pore-forming and ancillary subunits. The KCNE gene family is a novel group of modulatory Kv channel elements in leukocytes. Here, we characterized the gene expression of KCNEs (1-5) in leukocytes and investigated their regulation during leukocyte proliferation and mode of activation. Murine bone-marrow-derived macrophages, human Jurkat T-lymphocytes and human Raji B-cells were analyzed. KCNEs (1-5) are expressed in all leukocytes lineages. Most KCNE mRNAs show cell cycle-dependent regulation and are differentially regulated under specific insults. Our results further suggest a new and yet undefined physiological role for KCNE subunits in the immune system. Putative associations of these ancillary proteins with Kv channels would yield a wide variety of biophysically and pharmacologically distinct channels that fine-tune the immunological response.

  13. Rapidly Alternating Transmission Mode Electron Transfer Dissociation and Collisional Activation for the Characterization of Polypeptide Ions

    PubMed Central

    Han, Hongling; Xia, Yu; Yang, Min; McLuckey, Scott A.

    2009-01-01

    Cation transmission/electron transfer reagent anion storage mode electron transfer ion/ion reactions and beam-type collisional activation of the polypeptide ions are performed in rapid succession in the high pressure collision cell (Q2) of a quadrupole/time-of-flight tandem mass spectrometer (QqTOF), where the electron transfer reagent anions are accumulated. Duty cycles for both electron transfer dissociation (ETD) and collision-induced dissociation (CID) experiments are improved relative to ion trapping approaches since there are no discrete ion storage and reaction steps for ETD experiments and no discrete ion storage step and frequency tuning for CID experiments. For this technique, moderately high resolution and mass accuracy are also obtained due to mass analysis via the TOF analyzer. This relatively simple approach has been demonstrated with a triply charged tryptic peptide, a triply charged tryptic phosphopeptide, and a triply charged tryptic N-linked glycopeptide. For the tryptic peptide, the sequence is identified with more certainty than would be available from a single method alone due to the complementary information provided by these two dissociation methods. Because of the complementary information derived from both ETD and CID dissociation methods, peptide sequence and post-translational modification (PTM) sites for the phosphopeptide are identified. This combined ETD and CID approach is particularly useful for characterizing glycopeptides because ETD generates information about both peptide sequence and locations of the glycosylation sites while CID provides information about the glycan structure. PMID:18396915

  14. Role of kinesin-1–based microtubule sliding in Drosophila nervous system development

    PubMed Central

    Winding, Michael; Kelliher, Michael T.; Lu, Wen; Wildonger, Jill

    2016-01-01

    The plus-end microtubule (MT) motor kinesin-1 is essential for normal development, with key roles in the nervous system. Kinesin-1 drives axonal transport of membrane cargoes to fulfill the metabolic needs of neurons and maintain synapses. We have previously demonstrated that kinesin-1, in addition to its well-established role in organelle transport, can drive MT–MT sliding by transporting “cargo” MTs along “track” MTs, resulting in dramatic cell shape changes. The mechanism and physiological relevance of this MT sliding are unclear. In addition to its motor domain, kinesin-1 contains a second MT-binding site, located at the C terminus of the heavy chain. Here, we mutated this C-terminal MT-binding site such that the ability of kinesin-1 to slide MTs is significantly compromised, whereas cargo transport is unaffected. We introduced this mutation into the genomic locus of kinesin-1 heavy chain (KHC), generating the KhcmutA allele. KhcmutA neurons displayed significant MT sliding defects while maintaining normal transport of many cargoes. Using this mutant, we demonstrated that MT sliding is required for axon and dendrite outgrowth in vivo. Consistent with these results, KhcmutA flies displayed severe locomotion and viability defects. To test the role of MT sliding further, we engineered a chimeric motor that actively slides MTs but cannot transport organelles. Activation of MT sliding in KhcmutA neurons using this chimeric motor rescued axon outgrowth in cultured neurons and in vivo, firmly establishing the role of sliding in axon outgrowth. These results demonstrate that MT sliding by kinesin-1 is an essential biological phenomenon required for neuronal morphogenesis and normal nervous system development. PMID:27512046

  15. Analysis of the stability of an active mode-locking pulsed laser for ultra-short pulses generation

    NASA Astrophysics Data System (ADS)

    Bracamontes Rodríguez, Y. E.; Beltrán Pérez, G.; Kuzin, Eugin; Castillo Mixcóatl, J.; Muñoz Aguirre, S.

    2013-11-01

    Pulsed lasers have become very important owing to the great amount of applications, from communications to diverse medicine areas. Many works have reported the development of these kinds of sources which uses quite complex cavity configurations and that present instabilities in the output signal. In this work the analysis of a pulsed laser that uses a ring cavity with a length of 16.5 m is presented. A phase modulator (LiNbO3) controlled by an RF generator operated at a frequency of 12.5108 MHz was used to perform the mode lock. The modulator input has a birrefringent fiber then the light polarization affects the mode lock. Therefore it was necessary to perform an analysis and characterization in the input and output signals of the modulator in order to obtain more stable output pulses without requiring a continuous adjustment. The laser implemented with 2 modes of operation, active mode-lock and passive mode-lock. The obtained pulses whit temporal width of 7 ns FWHM for the frequency fundamental 12.5108 MHz and 781 -261-120-116 ps for the harmonic 5-10-16-20 .The results for the passive mode-lock the obtained pulses whit temporal width 2 ps and average power 200 W.

  16. Comparison of flash and accumulation mode in range-gated active imaging

    NASA Astrophysics Data System (ADS)

    Christnacher, Frank; Laurenzis, Martin; Schertzer, Stéphane

    2013-10-01

    Range-gated active imaging has significantly been improved in the recent past. Due to the availability of high power laser diodes around 800-860 nm, it is now possible to find off-the-shelf systems working with very sensitive light intensifier and laser diodes. On the other hand, eye-safe systems working around 1.5 μm suffer from a lack of intensified sensor in the SWIR band. The only existing intensified sensors require the use of high power pulsed laser sources for the illumination. Consequently, the type of source (diode or solid-state laser) gives fundamental differences between the two types of system. The first technique which uses laser diodes, μchip or fiber lasers, is called "accumulation" imaging. These sources are characterized by a low-pulse power and high repetition rate, mostly around a few tens of kHz. Here, each image is the result of the accumulation of hundred of pulses during the frame time. The second technique which uses a solid-state laser illumination is called "flash" imaging. Here, each image is the result of a unique high power illumination of the scene at low repetition rate, mostly around the video rate. In this paper, we investigate the theoretical and practical differences between these two imaging modes and its influence on image quality, on sensitivity to day light or stray light, on fog penetration capacity, on its sensitivity to turbulences and on laser safety (NOHD). For comparative experimental purposes, we've built a range-gated active imaging system which allows the investigation of both methods. We've carried out precise comparative studies between the two acquisition methods.

  17. Dominant modes of relationship between U.S. temperature and geomagnetic activity

    NASA Technical Reports Server (NTRS)

    Prohaska, J. T.; Willett, H. C.

    1983-01-01

    Eigen-analysis is applied to a matrix of cross-correlation coefficients between the geomagnetic aa-index for 0 to 23-yr lag and the monthly mean temperature at 32 United States stations. About 75 percent of the relationship between the two fields is contained in three dominant modes. A secular trend (about 90 yr) and two 11-yr cycles dominate the mode time series. The month-to-month changes in the temperature anomaly patterns indicate a slow eddy-like motion to the east of the Continental Divide for all three dominant modes.

  18. An updated nuclear criticality slide rule

    SciTech Connect

    Hopper, C.M.; Broadhead, B.L.

    1998-04-01

    This Volume 2 contains the functional version of the updated nuclear criticality slide rule (more accurately, sliding graphs) that is referenced in An Updated Nuclear Criticality Slide Rule: Technical Basis, NUREG/CR-6504, Vol. 1 (ORNL/TM-13322/V1). This functional slide rule provides a readily usable {open_quotes}in-hand{close_quotes} method for estimating pertinent nuclear criticality accident information from sliding graphs, thereby permitting (1) the rapid estimation of pertinent criticality accident information without laborious or sophisticated calculations in a nuclear criticality emergency situation, (2) the appraisal of potential fission yields and external personnel radiation exposures for facility safety analyses, and (3) a technical basis for emergency preparedness and training programs at nonreactor nuclear facilities. The slide rule permits the estimation of neutron and gamma dose rates and integrated doses based upon estimated fission yields, distance from the fission source, and time-after criticality accidents for five different critical systems. Another sliding graph permits the estimation of critical solution fission yields based upon fissile material concentration, critical vessel geometry, and solution addition rate. Another graph provides neutron and gamma dose-reduction factors for water, steel, and concrete. Graphs from historic documents are provided as references for estimating critical parameters of various fissile material systems. Conversion factors for various English and metric units are provided for quick reference.

  19. Whole slide imaging for educational purposes.

    PubMed

    Pantanowitz, Liron; Szymas, Janusz; Yagi, Yukako; Wilbur, David

    2012-01-01

    Digitized slides produced by whole slide image scanners can be easily shared over a network or by transferring image files to optical or other data storage devices. Navigation of digitized slides is interactive and intended to simulate viewing glass slides with a microscope (virtual microscopy). Image viewing software permits users to edit, annotate, analyze, and easily share whole slide images (WSI). As a result, WSI have begun to replace the traditional light microscope, offering a myriad of opportunities for education. This article focuses on current applications of WSI in education and proficiency testing. WSI has been successfully explored for graduate education (medical, dental, and veterinary schools), training of pathology residents, as an educational tool in allied pathology schools (e.g., cytotechnology), for virtual tracking and tutoring, tele-education (tele-conferencing), e-learning, virtual workshops, at tumor boards, with interactive publications, and on examinations. WSI supports flexible and cost-effective distant learning and augments problem-oriented teaching, competency evaluation, and proficiency testing. WSI viewed on touchscreen displays and with tablet technology are especially beneficial for education. Further investigation is necessary to develop superior WSI applications that better support education and to design viewing stations with ergonomic tools that improve the WSI-human interface and navigation of virtual slides. Studies to determine the impact of training pathologists without exposure to actual glass slides are also needed.

  20. Ferguson rock slide buries California State Highway near Yosemite National Park

    USGS Publications Warehouse

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

    2008-01-01

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