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Sample records for adaptive control strategies

  1. Adaptive Control Strategies for Flexible Robotic Arm

    NASA Technical Reports Server (NTRS)

    Bialasiewicz, Jan T.

    1996-01-01

    The control problem of a flexible robotic arm has been investigated. The control strategies that have been developed have a wide application in approaching the general control problem of flexible space structures. The following control strategies have been developed and evaluated: neural self-tuning control algorithm, neural-network-based fuzzy logic control algorithm, and adaptive pole assignment algorithm. All of the above algorithms have been tested through computer simulation. In addition, the hardware implementation of a computer control system that controls the tip position of a flexible arm clamped on a rigid hub mounted directly on the vertical shaft of a dc motor, has been developed. An adaptive pole assignment algorithm has been applied to suppress vibrations of the described physical model of flexible robotic arm and has been successfully tested using this testbed.

  2. An adaptive strategy for controlling chaotic system.

    PubMed

    Cao, Yi-Jia; Hang, Hong-Xian

    2003-01-01

    This paper presents an adaptive strategy for controlling chaotic systems. By employing the phase space reconstruction technique in nonlinear dynamical systems theory, the proposed strategy transforms the nonlinear system into canonical form, and employs a nonlinear observer to estimate the uncertainties and disturbances of the nonlinear system, and then establishes a state-error-like feedback law. The developed control scheme allows chaos control in spite of modeling errors and parametric variations. The effectiveness of the proposed approach has been demonstrated through its applications to two well-known chaotic systems: Duffing oscillator and Rössler chaos.

  3. Adaptive control strategies for flexible robotic arm

    NASA Technical Reports Server (NTRS)

    Bialasiewicz, Jan T.

    1993-01-01

    The motivation of this research came about when a neural network direct adaptive control scheme was applied to control the tip position of a flexible robotic arm. Satisfactory control performance was not attainable due to the inherent non-minimum phase characteristics of the flexible robotic arm tip. Most of the existing neural network control algorithms are based on the direct method and exhibit very high sensitivity if not unstable closed-loop behavior. Therefore a neural self-tuning control (NSTC) algorithm is developed and applied to this problem and showed promising results. Simulation results of the NSTC scheme and the conventional self-tuning (STR) control scheme are used to examine performance factors such as control tracking mean square error, estimation mean square error, transient response, and steady state response.

  4. A flicker reduction control strategy using an adaptive var compensator

    SciTech Connect

    Jatskevich, J.; Wasynczuk, O.; Conrad, L.

    1999-11-01

    A detailed computer model of a power network with loads, resistance welders and an Adaptive Var Compensator (AVC) has been developed and used to determine the effectiveness of the AVC on the reduction of observable flicker at neighboring loads. Flicker severity is determined using the UIE/IEC flickermeter methodology. Different control strategies for the AVC are considered and compared with respect to flicker reduction. A new flicker adaptive control (FAC) strategy is proposed that can be used for both power factor correction and flicker reduction. The measurement technique used in the FAC is shown to be accurate even in presence of significant harmonic distortion.

  5. Adaptive Insecure Attachment and Resource Control Strategies during Middle Childhood

    ERIC Educational Resources Information Center

    Chen, Bin-Bin; Chang, Lei

    2012-01-01

    By integrating the life history theory of attachment with resource control theory, the current study examines the hypothesis that insecure attachment styles reorganized in middle childhood are alternative adaptive strategies used to prepare for upcoming competition with the peer group. A sample of 654 children in the second through seventh grades…

  6. A control strategy for adaptive absorber based on variable mass

    NASA Astrophysics Data System (ADS)

    Gao, Qiang; Han, Ning; Zhao, Yanqing; Duan, Chendong; Wang, Wanqin

    2015-07-01

    The tuned vibration absorber (TVA) has been an effective tool for vibration control. However, the application of TVA can cause resonance of the primary system and increase its vibration when the absorber is mistuned. In this paper, a novel control strategy based on adaptive tuned vibration absorber (ATVA) of variable mass is proposed to reduce the resonance of the primary system. Unlike most ATVAs suggested by other researchers which adjust the absorber natural frequency by changing the stiffness, the variable mass ATVA varies its natural frequency by changing absorber mass to match the excitation frequency. Some simulations and experiments were conducted to test the performance of the control strategy. The results show that the proposed control plan can widen the frequency bandwidth of the absorber, as well as suppress the resonance of the primary system significantly. This implies that the work is useful for practical applications of ATVA.

  7. Controls on Extreme Droughts and Adaptation Strategies in Semiarid Regions

    NASA Astrophysics Data System (ADS)

    Scanlon, B. R.; Cook, C.; Fernando, D. N.; LeBlanc, M.

    2012-12-01

    Increasing vulnerability to droughts with reduced per capita water storage, particularly in semiarid regions, underscores the need for predictive understanding of drought controls and development of adaptation strategies for water resources management. In this study we evaluate causes of major droughts in southwest and southcentral US (California and Texas) and southeast Australia (Murray Darling Basin). Impacts of climate cycles (ENSO, PDO, AMO, NAO, IOD) and atmospheric circulation on drought initiation and persistence are examined. Effects of drought on surface water reservoir storage, groundwater storage, irrigation, and crop production are compared. Adaptation strategies being evaluated include water transfers among sectors, particularly from irrigated agriculture to other groups, increasing storage using managed aquifer recharge, water reuse, and development of new water sources (e.g. seawater desalination). It is critical to develop a broad portfolio of water sources to increase resilience to future droughts.

  8. Self-Adaptive Differential Evolution Algorithm With Zoning Evolution of Control Parameters and Adaptive Mutation Strategies.

    PubMed

    Fan, Qinqin; Yan, Xuefeng

    2016-01-01

    The performance of the differential evolution (DE) algorithm is significantly affected by the choice of mutation strategies and control parameters. Maintaining the search capability of various control parameter combinations throughout the entire evolution process is also a key issue. A self-adaptive DE algorithm with zoning evolution of control parameters and adaptive mutation strategies is proposed in this paper. In the proposed algorithm, the mutation strategies are automatically adjusted with population evolution, and the control parameters evolve in their own zoning to self-adapt and discover near optimal values autonomously. The proposed algorithm is compared with five state-of-the-art DE algorithm variants according to a set of benchmark test functions. Furthermore, seven nonparametric statistical tests are implemented to analyze the experimental results. The results indicate that the overall performance of the proposed algorithm is better than those of the five existing improved algorithms.

  9. Dual-thread parallel control strategy for ophthalmic adaptive optics.

    PubMed

    Yu, Yongxin; Zhang, Yuhua

    To improve ophthalmic adaptive optics speed and compensate for ocular wavefront aberration of high temporal frequency, the adaptive optics wavefront correction has been implemented with a control scheme including 2 parallel threads; one is dedicated to wavefront detection and the other conducts wavefront reconstruction and compensation. With a custom Shack-Hartmann wavefront sensor that measures the ocular wave aberration with 193 subapertures across the pupil, adaptive optics has achieved a closed loop updating frequency up to 110 Hz, and demonstrated robust compensation for ocular wave aberration up to 50 Hz in an adaptive optics scanning laser ophthalmoscope.

  10. Strategy for adaptive process control for a column flotation unit

    SciTech Connect

    Karr, C.L.; Ferguson, C.R.

    1994-12-31

    Researchers at the U.S. Bureau of Mines (USBM) have developed adaptive process control systems in which genetic algorithms (GAs) are used to augment fuzzy logic controllers (FLCs). Together, GAs and FLCs possess the capabilities necessary to produce powerful, efficient, and robust adaptive control systems. To perform efficiently, such control systems require a control element to manipulate the problem environment, an analysis element to recognize changes in the problem environment, and a learning element to adjust to the changes in the problem environment. In this paper, the details of an ongoing research effort to develop and implement an adaptive process control system for a column flotation unit are discussed. Column flotation units are used extensively in the mineral processing industry to recover valuable minerals from their ores.

  11. Control Reallocation Strategies for Damage Adaptation in Transport Class Aircraft

    NASA Technical Reports Server (NTRS)

    Gundy-Burlet, Karen; Krishnakumar, K.; Limes, Greg; Bryant, Don

    2003-01-01

    This paper examines the feasibility, potential benefits and implementation issues associated with retrofitting a neural-adaptive flight control system (NFCS) to existing transport aircraft, including both cable/hydraulic and fly-by-wire configurations. NFCS uses a neural network based direct adaptive control approach for applying alternate sources of control authority in the presence of damage or failures in order to achieve desired flight control performance. Neural networks are used to provide consistent handling qualities across flight conditions, adapt to changes in aircraft dynamics and to make the controller easy to apply when implemented on different aircraft. Full-motion piloted simulation studies were performed on two different transport models: the Boeing 747-400 and the Boeing C-17. Subjects included NASA, Air Force and commercial airline pilots. Results demonstrate the potential for improving handing qualities and significantly increased survivability rates under various simulated failure conditions.

  12. Fuel consumptions and exhaust emissions induced by cooperative adaptive cruise control strategies

    NASA Astrophysics Data System (ADS)

    Yu, Shaowei; Shi, Zhongke

    2015-04-01

    Many cooperative adaptive cruise control strategies have been presented to improve traffic efficiency as well as road traffic safety, but scholars have rarely explored the impacts of these strategies on cars' fuel consumptions and exhaust emissions. In this paper, we respectively select two-velocity difference model, multiple velocity difference model and the car-following model considering multiple preceding cars' accelerations to investigate each car's fuel consumptions, carbon monoxide (CO), hydrocarbons (HC) and nitrogen oxides (NOX) emissions and carry out comparative analysis. The comparisons of fuel consumptions and exhaust emissions in three different cruise control strategies show that cooperative cars simulated by the car-following model considering multiple preceding cars' accelerations can run with the minimal fuel consumptions, CO, HC and NOX emissions, thus, taking the car-following model considering multiple preceding cars' accelerations as the cooperative adaptive cruise control strategy can significantly improve cars' fuel efficiency and exhaust emissions.

  13. Adaptive pinning control: A review of the fully decentralized strategy and its extensions

    NASA Astrophysics Data System (ADS)

    Turci, L. F. R.; De Lellis, P.; Macau, E. E. N.; Di Bernardo, M.; Simões, M. M. R.

    2014-12-01

    In this work, we review recent developments related to the problem of guiding a complex network of agents toward a synchronized state. Specifically, we focus on adaptive pinning control strategies, expounding those developed by the authors in the context of the existing literature, in which only a small fraction of the network nodes is directly controlled. The methodologies described herein are adaptive in the sense that the control and coupling gains are updated on the basis of the local mismatch with the desired trajectory and between coupled nodes, respectively. A selection of adaptive strategies recently proposed in the literature is reviewed, and the main stability results are expounded. As a numerical validation, the selected approaches are applied to control an ensemble of coupled mobile agents moving in a formation.

  14. Learner Control versus Program Control as Adaptive Strategies for Selection of Instructional Support on Math Rules.

    ERIC Educational Resources Information Center

    Ross, Steven M.; Rakow, Ernest A.

    1981-01-01

    Subjects completed a self-paced lesson on math rules in which the number of supporting examples was adapted to pretest scores through program control, selected through learner control, or kept constant (nonadaptive). Program control means were consistently highest while learner control means were lowest. (Author/BW)

  15. Adaptive Optics Facility: control strategy and first on-sky results of the acquisition sequence

    NASA Astrophysics Data System (ADS)

    Madec, P.-Y.; Kolb, J.; Oberti, S.; Paufique, J.; La Penna, P.; Hackenberg, W.; Kuntschner, H.; Argomedo, J.; Kiekebusch, M.; Donaldson, R.; Suarez, M.; Arsenault, R.

    2016-07-01

    The Adaptive Optics Facility is an ESO project aiming at converting Yepun, one of the four 8m telescopes in Paranal, into an adaptive telescope. This is done by replacing the current conventional secondary mirror of Yepun by a Deformable Secondary Mirror (DSM) and attaching four Laser Guide Star (LGS) Units to its centerpiece. In the meantime, two Adaptive Optics (AO) modules have been developed incorporating each four LGS WaveFront Sensors (WFS) and one tip-tilt sensor used to control the DSM at 1 kHz frame rate. The four LGS Units and one AO module (GRAAL) have already been assembled on Yepun. Besides the technological challenge itself, one critical area of AOF is the AO control strategy and its link with the telescope control, including Active Optics used to shape M1. Another challenge is the request to minimize the overhead due to AOF during the acquisition phase of the observation. This paper presents the control strategy of the AOF. The current control of the telescope is first recalled, and then the way the AO control makes the link with the Active Optics is detailed. Lab results are used to illustrate the expected performance. Finally, the overall AOF acquisition sequence is presented as well as first results obtained on sky with GRAAL.

  16. Adaptive Control for Buck Power Converter Using Fixed Point Inducting Control and Zero Average Dynamics Strategies

    NASA Astrophysics Data System (ADS)

    Hoyos Velasco, Fredy Edimer; García, Nicolás Toro; Garcés Gómez, Yeison Alberto

    In this paper, the output voltage of a buck power converter is controlled by means of a quasi-sliding scheme. The Fixed Point Inducting Control (FPIC) technique is used for the control design, based on the Zero Average Dynamics (ZAD) strategy, including load estimation by means of the Least Mean Squares (LMS) method. The control scheme is tested in a Rapid Control Prototyping (RCP) system based on Digital Signal Processing (DSP) for dSPACE platform. The closed loop system shows adequate performance. The experimental and simulation results match. The main contribution of this paper is to introduce the load estimator by means of LMS, to make ZAD and FPIC control feasible in load variation conditions. In addition, comparison results for controlled buck converter with SMC, PID and ZAD-FPIC control techniques are shown.

  17. The effects of vehicular gap changes with memory on traffic flow in cooperative adaptive cruise control strategy

    NASA Astrophysics Data System (ADS)

    Yu, Shaowei; Shi, Zhongke

    2015-06-01

    To evaluate the impacts of new influence factor in cooperative adaptive cruise control strategy on the dynamic characteristics of traffic flow, an improved cooperative car-following model considering multiple vehicular gap changes with memory is developed to study the influences of multiple vehicular gap changes with memory on each car's speed, acceleration and relative distance. Some numerical simulations are carried out and the results show that considering multiple vehicular gap changes with memory in designing the cooperative adaptive cruise control strategy can improve the stability of traffic flow and reduce the accidental probability.

  18. Adaptive Strategies for Controls of Flexible Arms. Ph.D. Thesis

    NASA Technical Reports Server (NTRS)

    Yuan, Bau-San

    1989-01-01

    An adaptive controller for a modern manipulator has been designed based on asymptotical stability via the Lyapunov criterion with the output error between the system and a reference model used as the actuating control signal. Computer simulations were carried out to test the design. The combination of the adaptive controller and a system vibration and mode shape estimator show that the flexible arm should move along a pre-defined trajectory with high-speed motion and fast vibration setting time. An existing computer-controlled prototype two link manipulator, RALF (Robotic Arm, Large Flexible), with a parallel mechanism driven by hydraulic actuators was used to verify the mathematical analysis. The experimental results illustrate that assumed modes found from finite element techniques can be used to derive the equations of motion with acceptable accuracy. The robust adaptive (modal) control is implemented to compensate for unmodelled modes and nonlinearities and is compared with the joint feedback control in additional experiments. Preliminary results show promise for the experimental control algorithm.

  19. Expressing Adaptation Strategies Using Adaptation Patterns

    ERIC Educational Resources Information Center

    Zemirline, N.; Bourda, Y.; Reynaud, C.

    2012-01-01

    Today, there is a real challenge to enable personalized access to information. Several systems have been proposed to address this challenge including Adaptive Hypermedia Systems (AHSs). However, the specification of adaptation strategies remains a difficult task for creators of such systems. In this paper, we consider the problem of the definition…

  20. Biological control of crystal texture: A widespread strategy for adapting crystal properties to function

    SciTech Connect

    Berman, A.; Leiserowitz, L.; Weiner, S.; Addadi, L. ); Hanson, J.; Koetzle, T.F. )

    1993-02-05

    Textures of calcite crystals from a variety of mineralized tissues belong to organisms from four phyla were examined with high-resolution synchrotron x-ray radiation. Significant differences in coherence length and angular spread were observed between taxonomic groups. Crystals from polycrystalline skeletal ensembles were more perfect than those that function as single-crystal elements. Different anistropic effects on crystal texture were observed for sea urchin and mollusk calcite crystals, whereas none was found for the foraminifer, Patellina, and the control calcite crystals. These results show that the manipulation of crystal texture in different organisms is under biological control and that crystal textures in some tissues are adapted to function. A better understanding of this apparently widespread biological phenomenon may provide new insights for improving synthetic crystal-containing materials. 18 refs., 3 figs., 1 tab.

  1. Worry as an adaptive avoidance strategy in healthy controls but not in pathological worriers.

    PubMed

    Ottaviani, Cristina; Borlimi, Rosita; Brighetti, Gianni; Caselli, Gabriele; Favaretto, Ettore; Giardini, Irene; Marzocchi, Camilla; Nucifora, Valeria; Rebecchi, Daniela; Ruggiero, Giovanni M; Sassaroli, Sandra

    2014-09-01

    The cognitive avoidance model of worry assumes that worry has the adaptive function to keep under control the physiological arousal associated with anxiety. This study aimed to test this model by the use of a fear induction paradigm in both pathological and healthy individuals. Thirty-one pathological worriers and 36 healthy controls accepted to be exposed to a fear induction paradigm (white noise) during three experimental conditions: worry, distraction, and reappraisal. Skin conductance (SCR) and heart rate variability (HRV) were measured as indices of sympathetic and parasympathetic nervous system functioning. Worriers showed increased sympathetic and decreased parasympathetic activation during the worry condition compared to non-worriers. There were no differences between groups for the distraction and reappraisal conditions. SCRs to the white noises during worry were higher in worriers versus controls throughout the entire worry period. Intolerance of uncertainty - but not metacognitive beliefs about worry - was a significant moderator of the relationship between worry and LF/HF-HRV in pathological worriers. Results support the cognitive avoidance model in healthy controls, suggesting that worry is no longer a functional attitude when it becomes the default/automatic and pathological response.

  2. Strategies of Adaptive Ability Measurement.

    ERIC Educational Resources Information Center

    Weiss, David J.

    A number of strategies are described for adapting ability test items to individual differences in ability levels of testees. Each strategy consists of a different set of rules for selecting the sequence of test items to be administered to a given testee. Advantages and disadvantages of each strategy are discussed, and research issues unique to the…

  3. Performance adaptive training control strategy for recovering wrist movements in stroke patients: a preliminary, feasibility study

    PubMed Central

    2009-01-01

    Background In the last two decades robot training in neuromotor rehabilitation was mainly focused on shoulder-elbow movements. Few devices were designed and clinically tested for training coordinated movements of the wrist, which are crucial for achieving even the basic level of motor competence that is necessary for carrying out ADLs (activities of daily life). Moreover, most systems of robot therapy use point-to-point reaching movements which tend to emphasize the pathological tendency of stroke patients to break down goal-directed movements into a number of jerky sub-movements. For this reason we designed a wrist robot with a range of motion comparable to that of normal subjects and implemented a self-adapting training protocol for tracking smoothly moving targets in order to facilitate the emergence of smoothness in the motor control patterns and maximize the recovery of the normal RoM (range of motion) of the different DoFs (degrees of Freedom). Methods The IIT-wrist robot is a 3 DoFs light exoskeleton device, with direct-drive of each DoF and a human-like range of motion for Flexion/Extension (FE), Abduction/Adduction (AA) and Pronation/Supination (PS). Subjects were asked to track a variable-frequency oscillating target using only one wrist DoF at time, in such a way to carry out a progressive splinting therapy. The RoM of each DoF was angularly scanned in a staircase-like fashion, from the "easier" to the "more difficult" angular position. An Adaptive Controller evaluated online performance parameters and modulated both the assistance and the difficulty of the task in order to facilitate smoother and more precise motor command patterns. Results Three stroke subjects volunteered to participate in a preliminary test session aimed at verify the acceptability of the device and the feasibility of the designed protocol. All of them were able to perform the required task. The wrist active RoM of motion was evaluated for each patient at the beginning and at the end

  4. Self-Adaptive Strategy Based on Fuzzy Control Systems for Improving Performance in Wireless Sensors Networks.

    PubMed

    Hernández Díaz, Vicente; Martínez, José-Fernán; Lucas Martínez, Néstor; del Toro, Raúl M

    2015-09-18

    The solutions to cope with new challenges that societies have to face nowadays involve providing smarter daily systems. To achieve this, technology has to evolve and leverage physical systems automatic interactions, with less human intervention. Technological paradigms like Internet of Things (IoT) and Cyber-Physical Systems (CPS) are providing reference models, architectures, approaches and tools that are to support cross-domain solutions. Thus, CPS based solutions will be applied in different application domains like e-Health, Smart Grid, Smart Transportation and so on, to assure the expected response from a complex system that relies on the smooth interaction and cooperation of diverse networked physical systems. The Wireless Sensors Networks (WSN) are a well-known wireless technology that are part of large CPS. The WSN aims at monitoring a physical system, object, (e.g., the environmental condition of a cargo container), and relaying data to the targeted processing element. The WSN communication reliability, as well as a restrained energy consumption, are expected features in a WSN. This paper shows the results obtained in a real WSN deployment, based on SunSPOT nodes, which carries out a fuzzy based control strategy to improve energy consumption while keeping communication reliability and computational resources usage among boundaries.

  5. Self-Adaptive Strategy Based on Fuzzy Control Systems for Improving Performance in Wireless Sensors Networks

    PubMed Central

    Hernández Díaz, Vicente; Martínez, José-Fernán; Lucas Martínez, Néstor; del Toro, Raúl M.

    2015-01-01

    The solutions to cope with new challenges that societies have to face nowadays involve providing smarter daily systems. To achieve this, technology has to evolve and leverage physical systems automatic interactions, with less human intervention. Technological paradigms like Internet of Things (IoT) and Cyber-Physical Systems (CPS) are providing reference models, architectures, approaches and tools that are to support cross-domain solutions. Thus, CPS based solutions will be applied in different application domains like e-Health, Smart Grid, Smart Transportation and so on, to assure the expected response from a complex system that relies on the smooth interaction and cooperation of diverse networked physical systems. The Wireless Sensors Networks (WSN) are a well-known wireless technology that are part of large CPS. The WSN aims at monitoring a physical system, object, (e.g., the environmental condition of a cargo container), and relaying data to the targeted processing element. The WSN communication reliability, as well as a restrained energy consumption, are expected features in a WSN. This paper shows the results obtained in a real WSN deployment, based on SunSPOT nodes, which carries out a fuzzy based control strategy to improve energy consumption while keeping communication reliability and computational resources usage among boundaries. PMID:26393612

  6. Hybrid Adaptive Flight Control with Model Inversion Adaptation

    NASA Technical Reports Server (NTRS)

    Nguyen, Nhan

    2011-01-01

    This study investigates a hybrid adaptive flight control method as a design possibility for a flight control system that can enable an effective adaptation strategy to deal with off-nominal flight conditions. The hybrid adaptive control blends both direct and indirect adaptive control in a model inversion flight control architecture. The blending of both direct and indirect adaptive control provides a much more flexible and effective adaptive flight control architecture than that with either direct or indirect adaptive control alone. The indirect adaptive control is used to update the model inversion controller by an on-line parameter estimation of uncertain plant dynamics based on two methods. The first parameter estimation method is an indirect adaptive law based on the Lyapunov theory, and the second method is a recursive least-squares indirect adaptive law. The model inversion controller is therefore made to adapt to changes in the plant dynamics due to uncertainty. As a result, the modeling error is reduced that directly leads to a decrease in the tracking error. In conjunction with the indirect adaptive control that updates the model inversion controller, a direct adaptive control is implemented as an augmented command to further reduce any residual tracking error that is not entirely eliminated by the indirect adaptive control.

  7. The Effect of Adaptive, Advisement, and Linear CAI Control Strategies on the Learning of Mathematics Rules.

    ERIC Educational Resources Information Center

    Goetzfried, Leslie; Hannafin, Michael

    This study examined the effects of the locus of three computer assisted instruction (CAI) strategies on the accuracy and efficiency of mathematics rule and application learning of 47 low-achieving seventh grade students in remedial mathematics classes. The instructional task was a mathematics rule lesson concerning divisibility by the numbers two,…

  8. Comparison of novel physiological load-adaptive control strategies for ventricular assist devices.

    PubMed

    Habigt, Moriz; Ketelhut, Maike; Gesenhues, Jonas; Schrödel, Frank; Hein, Marc; Mechelinck, Mare; Schmitz-Rode, Thomas; Abel, Dirk; Rossaint, Rolf

    2016-11-17

    Terminal heart failure (HF) is the most prevalent cause of death in the Western world and the implantation of a left ventricular assist device (LVAD) has become the gold standard therapy today. Most of the actually implanted devices are driven at a constant speed (CS) regardless of the patient's physiological demand. A new physiological controller [power ratio (PR) controller], which keeps a constant ratio between LVAD power and left ventricular power, a previous concept [preload responsive speed (PRS) controller], which adds a variable LVAD power to reach a defined stroke work, and a CS controller were compared with an unimpaired ventricle in a full heart computer simulation model. The effects of changes in preload, afterload and left ventricular contractility are displayed by global hemodynamics and ventricular pressure-volume loops. Both physiological controllers demonstrated the desired load dependency, whereas the PR controller exceeded the PRS controller in response to an increased load and contractility. Response was inferior when preload or contractility was decreased. Thus, the PR controller might lead to an increased exercise tolerance of the patient. Additional studies are required to evaluate the controllers in vivo.

  9. Dual-arm manipulators with adaptive control

    NASA Technical Reports Server (NTRS)

    Seraji, Homayoun (Inventor)

    1991-01-01

    The described and improved multi-arm invention of this application presents three strategies for adaptive control of cooperative multi-arm robots which coordinate control over a common load. In the position-position control strategy, the adaptive controllers ensure that the end-effector positions of both arms track desired trajectories in Cartesian space despite unknown time-varying interaction forces exerted through a load. In the position-hybrid control strategy, the adaptive controller of one arm controls end-effector motions in the free directions and applied forces in the constraint directions; while the adaptive controller of the other arm ensures that the end-effector tracks desired position trajectories. In the hybrid-hybrid control strategy, the adaptive controllers ensure that both end-effectors track reference position trajectories while simultaneously applying desired forces on the load. In all three control strategies, the cross-coupling effects between the arms are treated as disturbances which are compensated for by the adaptive controllers while following desired commands in a common frame of reference. The adaptive controllers do not require the complex mathematical model of the arm dynamics or any knowledge of the arm dynamic parameters or the load parameters such as mass and stiffness. Circuits in the adaptive feedback and feedforward controllers are varied by novel adaptation laws.

  10. Synthetic physiology strategies for adapting tools from nature for genetically targeted control of fast biological processes.

    PubMed

    Chow, Brian Y; Chuong, Amy S; Klapoetke, Nathan C; Boyden, Edward S

    2011-01-01

    The life and operation of cells involve many physiological processes that take place over fast timescales of milliseconds to minutes. Genetically encoded technologies for driving or suppressing specific fast physiological processes in intact cells, perhaps embedded within intact tissues in living organisms, are critical for the ability to understand how these physiological processes contribute to emergent cellular and organismal functions and behaviors. Such "synthetic physiology" tools are often incredibly complex molecular machines, in part because they must operate at high speeds, without causing side effects. We here explore how synthetic physiology molecules can be identified and deployed in cells, and how the physiology of these molecules in cellular contexts can be assessed and optimized. For concreteness, we discuss these methods in the context of the "optogenetic" light-gated ion channels and pumps that we have developed over the past few years as synthetic physiology tools and widely disseminated for use in neuroscience for probing the role of specific brain cell types in neural computations, behaviors, and pathologies. We anticipate that some of the insights revealed here may be of general value for the field of synthetic physiology, as they raise issues that will be of importance for the development and use of high-performance, high-speed, side-effect free physiological control tools in heterologous expression systems.

  11. Adaptive Cruise Control

    NASA Astrophysics Data System (ADS)

    Winner, Hermann; Danner, Bernd; Steinle, Joachim

    Mit Adaptive Cruise Control, abgekürzt ACC, wird eine Fahrgeschwindigkeitsregelung bezeichnet, die sich an die Verkehrssituation anpasst. Synonyme Bezeichnungen sind Aktive Geschwindigkeitsregelung, Automatische Distanzregelung oder Abstandsregeltempomat. Im englischen Sprachraum fnden sich die weiteren Bezeichnungen Active Cruise Control, Automatic Cruise Control oder Autonomous Intelligent Cruise Control. Als markengeschützte Bezeichnungen sind Distronic und Automatische Distanz-Regelung (ADR) eingetragen.

  12. Robust Adaptive Control

    NASA Technical Reports Server (NTRS)

    Narendra, K. S.; Annaswamy, A. M.

    1985-01-01

    Several concepts and results in robust adaptive control are are discussed and is organized in three parts. The first part surveys existing algorithms. Different formulations of the problem and theoretical solutions that have been suggested are reviewed here. The second part contains new results related to the role of persistent excitation in robust adaptive systems and the use of hybrid control to improve robustness. In the third part promising new areas for future research are suggested which combine different approaches currently known.

  13. Calibration of liquid crystal ultrafast pulse shaper with common-path spectral interferometry and application to coherent control with a covariance matrix adaptation evolutionary strategy

    NASA Astrophysics Data System (ADS)

    Wilson, Jesse W.; Schlup, Philip; Lunacek, Monte; Whitley, Darrell; Bartels, Randy A.

    2008-03-01

    An ultrafast pulse shaper for coherent control applications is described, complete with a simple, reliable calibration technique and an advanced learning control algorithm. The calibration technique makes use of a common-path interferometer, producing less noisy measurements than a conventional Mach-Zehnder interferometer. A covariance matrix adaptation evolutionary strategy (ES) is demonstrated to perform better than a traditional ES for high-dimensional search landscapes.

  14. Adaptive Decentralized Control

    DTIC Science & Technology

    1985-04-01

    computational requirements and response time provide strong incentives for the use of distributed control architectures. The basic focus of our research is on...ADCON (for Adaptive Decentralized CONtrol) comes from the following observations about the current status of control theory . An important aspect of...decentralized control of completely known systems still has many unresolved issues and some basic problems are yet to be answered. Under these conditions

  15. Adaptive hierarchical fuzzy controller

    SciTech Connect

    Raju, G.V.S.; Jun Zhou

    1993-07-01

    A methodology for designing adaptive hierarchical fuzzy controllers is presented. In order to evaluate this concept, several suitable performance indices were developed and converted to linguistic fuzzy variables. Based on those variables, a supervisory fuzzy rule set was constructed and used to change the parameters of a hierarchical fuzzy controller to accommodate the variations of system parameters. The proposed algorithm was used in feedwater flow control to a steam generator. Simulation studies are presented that illustrate the effectiveness of the approach

  16. Effect of Roy’s Adaptation Model-Guided Education on Coping Strategies of the Veterans with Lower Extremities Amputation: A Double-Blind Randomized Controlled Clinical Trial

    PubMed Central

    Farsi, Zahra; Azarmi, Somayeh

    2016-01-01

    Background: Any defect in the extremities of the body can affect different life aspects. The purpose of this study was to investigate the effect of Roy’s adaptation model-guided education on coping strategies of the veterans with lower extremities amputation. Methods: In a double-blind randomized controlled clinical trial, 60 veterans with lower extremities amputation referring to Kowsar Orthotics and Prosthetics Center of Veterans Clinic in Tehran, Iran were recruited using convenience method and randomly assigned to intervention and control groups in 2013-2014. Lazarus and Folkman coping strategies questionnaire was used to collect the data. After completing the questionnaires in both groups, maladaptive behaviours were determined in the intervention group and an education program based on Roy’s adaptation model was implemented. After 2 months, both groups completed the questionnaires again. Data were analyzed using SPSS software. Results: Independent T-test showed that the score of the dimensions of coping strategies did not have a statistically significant difference between the intervention and control groups in the pre-intervention stage (P>0.05). This test showed a statistically significant difference between the two groups in the post-intervention stage in terms of the scores of different dimensions of coping strategies (P>0.05), except in dimensions of social support seeking and positive appraisal (P>0.05). Conclusion: The findings of this research indicated that the Roy’s adaptation model-guided education improved the majority of coping strategies in veterans with lower extremities amputation. It is recommended that further interventions based on Roy’s adaptation model should be performed to improve the coping of the veterans with lower extremities amputation. Trial Registration Number: IRCT2014081118763N1 PMID:27218110

  17. Advances in Adaptive Control Methods

    NASA Technical Reports Server (NTRS)

    Nguyen, Nhan

    2009-01-01

    This poster presentation describes recent advances in adaptive control technology developed by NASA. Optimal Control Modification is a novel adaptive law that can improve performance and robustness of adaptive control systems. A new technique has been developed to provide an analytical method for computing time delay stability margin for adaptive control systems.

  18. Adaptive sequential controller

    DOEpatents

    El-Sharkawi, Mohamed A.; Xing, Jian; Butler, Nicholas G.; Rodriguez, Alonso

    1994-01-01

    An adaptive sequential controller (50/50') for controlling a circuit breaker (52) or other switching device to substantially eliminate transients on a distribution line caused by closing and opening the circuit breaker. The device adaptively compensates for changes in the response time of the circuit breaker due to aging and environmental effects. A potential transformer (70) provides a reference signal corresponding to the zero crossing of the voltage waveform, and a phase shift comparator circuit (96) compares the reference signal to the time at which any transient was produced when the circuit breaker closed, producing a signal indicative of the adaptive adjustment that should be made. Similarly, in controlling the opening of the circuit breaker, a current transformer (88) provides a reference signal that is compared against the time at which any transient is detected when the circuit breaker last opened. An adaptive adjustment circuit (102) produces a compensation time that is appropriately modified to account for changes in the circuit breaker response, including the effect of ambient conditions and aging. When next opened or closed, the circuit breaker is activated at an appropriately compensated time, so that it closes when the voltage crosses zero and opens when the current crosses zero, minimizing any transients on the distribution line. Phase angle can be used to control the opening of the circuit breaker relative to the reference signal provided by the potential transformer.

  19. Adaptive Cruise Control (ACC)

    NASA Astrophysics Data System (ADS)

    Reif, Konrad

    Die adaptive Fahrgeschwindigkeitsregelung (ACC, Adaptive Cruise Control) ist eine Weiterentwicklung der konventionellen Fahrgeschwindigkeitsregelung, die eine konstante Fahrgeschwindigkeit einstellt. ACC überwacht mittels eines Radarsensors den Bereich vor dem Fahrzeug und passt die Geschwindigkeit den Gegebenheiten an. ACC reagiert auf langsamer vorausfahrende oder einscherende Fahrzeuge mit einer Reduzierung der Geschwindigkeit, sodass der vorgeschriebene Mindestabstand zum vorausfahrenden Fahrzeug nicht unterschritten wird. Hierzu greift ACC in Antrieb und Bremse ein. Sobald das vorausfahrende Fahrzeug beschleunigt oder die Spur verlässt, regelt ACC die Geschwindigkeit wieder auf die vorgegebene Sollgeschwindigkeit ein (Bild 1). ACC steht somit für eine Geschwindigkeitsregelung, die sich dem vorausfahrenden Verkehr anpasst.

  20. Adaptive control for accelerators

    DOEpatents

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

    1991-01-01

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

  1. Adaptive nonlinear flight control

    NASA Astrophysics Data System (ADS)

    Rysdyk, Rolf Theoduor

    1998-08-01

    Research under supervision of Dr. Calise and Dr. Prasad at the Georgia Institute of Technology, School of Aerospace Engineering. has demonstrated the applicability of an adaptive controller architecture. The architecture successfully combines model inversion control with adaptive neural network (NN) compensation to cancel the inversion error. The tiltrotor aircraft provides a specifically interesting control design challenge. The tiltrotor aircraft is capable of converting from stable responsive fixed wing flight to unstable sluggish hover in helicopter configuration. It is desirable to provide the pilot with consistency in handling qualities through a conversion from fixed wing flight to hover. The linear model inversion architecture was adapted by providing frequency separation in the command filter and the error-dynamics, while not exiting the actuator modes. This design of the architecture provides for a model following setup with guaranteed performance. This in turn allowed for convenient implementation of guaranteed handling qualities. A rigorous proof of boundedness is presented making use of compact sets and the LaSalle-Yoshizawa theorem. The analysis allows for the addition of the e-modification which guarantees boundedness of the NN weights in the absence of persistent excitation. The controller is demonstrated on the Generic Tiltrotor Simulator of Bell-Textron and NASA Ames R.C. The model inversion implementation is robustified with respect to unmodeled input dynamics, by adding dynamic nonlinear damping. A proof of boundedness of signals in the system is included. The effectiveness of the robustification is also demonstrated on the XV-15 tiltrotor. The SHL Perceptron NN provides a more powerful application, based on the universal approximation property of this type of NN. The SHL NN based architecture is also robustified with the dynamic nonlinear damping. A proof of boundedness extends the SHL NN augmentation with robustness to unmodeled actuator

  2. An adaptive strategy for active debris removal

    NASA Astrophysics Data System (ADS)

    White, Adam E.; Lewis, Hugh G.

    2014-04-01

    Many parameters influence the evolution of the near-Earth debris population, including launch, solar, explosion and mitigation activities, as well as other future uncertainties such as advances in space technology or changes in social and economic drivers that effect the utilisation of space activities. These factors lead to uncertainty in the long-term debris population. This uncertainty makes it difficult to identify potential remediation strategies, involving active debris removal (ADR), that will perform effectively in all possible future cases. Strategies that cannot perform effectively, because of this uncertainty, risk either not achieving their intended purpose, or becoming a hindrance to the efforts of spacecraft manufactures and operators to address the challenges posed by space debris. One method to tackle this uncertainty is to create a strategy that can adapt and respond to the space debris population. This work explores the concept of an adaptive strategy, in terms of the number of objects required to be removed by ADR, to prevent the low Earth orbit (LEO) debris population from growing in size. This was demonstrated by utilising the University of Southampton’s Debris Analysis and Monitoring Architecture to the Geosynchronous Environment (DAMAGE) tool to investigate ADR rates (number of removals per year) that change over time in response to the current space environment, with the requirement of achieving zero growth of the LEO population. DAMAGE was used to generate multiple Monte Carlo projections of the future LEO debris environment. Within each future projection, the debris removal rate was derived at five-year intervals, by a new statistical debris evolutionary model called the Computational Adaptive Strategy to Control Accurately the Debris Environment (CASCADE) model. CASCADE predicted the long-term evolution of the current DAMAGE population with a variety of different ADR rates in order to identify a removal rate that produced a zero net

  3. Effective learning strategies for real-time image-guided adaptive control of multiple-source hyperthermia applicators

    PubMed Central

    Cheng, Kung-Shan; Dewhirst, Mark W.; Stauffer, Paul R.; Das, Shiva

    2010-01-01

    Purpose: This paper investigates overall theoretical requirements for reducing the times required for the iterative learning of a real-time image-guided adaptive control routine for multiple-source heat applicators, as used in hyperthermia and thermal ablative therapy for cancer. Methods: Methods for partial reconstruction of the physical system with and without model reduction to find solutions within a clinically practical timeframe were analyzed. A mathematical analysis based on the Fredholm alternative theorem (FAT) was used to compactly analyze the existence and uniqueness of the optimal heating vector under two fundamental situations: (1) noiseless partial reconstruction and (2) noisy partial reconstruction. These results were coupled with a method for further acceleration of the solution using virtual source (VS) model reduction. The matrix approximation theorem (MAT) was used to choose the optimal vectors spanning the reduced-order subspace to reduce the time for system reconstruction and to determine the associated approximation error. Numerical simulations of the adaptive control of hyperthermia using VS were also performed to test the predictions derived from the theoretical analysis. A thigh sarcoma patient model surrounded by a ten-antenna phased-array applicator was retained for this purpose. The impacts of the convective cooling from blood flow and the presence of sudden increase of perfusion in muscle and tumor were also simulated. Results: By FAT, partial system reconstruction directly conducted in the full space of the physical variables such as phases and magnitudes of the heat sources cannot guarantee reconstructing the optimal system to determine the global optimal setting of the heat sources. A remedy for this limitation is to conduct the partial reconstruction within a reduced-order subspace spanned by the first few maximum eigenvectors of the true system matrix. By MAT, this VS subspace is the optimal one when the goal is to maximize the

  4. Advanced Adaptive Optics Control Techniques

    DTIC Science & Technology

    1979-01-01

    Optimal estimation and control methods for high energy laser adaptive optics systems are described. Three system types are examined: Active...the adaptive optics approaches and potential system implementations are recommended.

  5. The development of the Swiss Adaptation Strategy

    NASA Astrophysics Data System (ADS)

    Hohmann, R.; Köllner-Heck, P.; Probst, T.

    2010-09-01

    In summer 2009, the Federal Council mandated the Departement of the Environment, Transport, Energy and Communication (DETEC) to develop a Swiss adaptation strategy. This strategy aims to coordinate the efforts of all federal departments involved in adaptation, and to provide them with the necessary basic information. For the development of the Swiss adaptation strategy the following principles are fundamental. (1.) The strategy aims to achieve the overarching objectives of harnessing the opportunities that climate change presents, minimizing the risks of climate change to people and assets, and to increases the adaptive capacity of all resources. (2) The strategy is based on the most recent scientific knowledge about climate change and climate change impacts. (3.) It is based in on a sound and comprehensive analysis of climate change risks. (4.) It includes strategic goals for the sectors that are most vulnerable to climate change, i.e., water management, biodiversity management, agriculture, forestry, natural hazard prevention, health care, energy generation, tourism, land use. (5.) It thoroughly analyzes the interfaces between the sectoral strategies in order solve existing conflicts and profit form existing synergies. The Swiss Adaptation Strategy will be completed and submitted to the Federal Council by the End of 2011.

  6. Dichotomous Search Strategies for Computerized Adaptive Testing.

    ERIC Educational Resources Information Center

    Xiao, Beiling

    Dichotomous search strategies (DSSs) for computerized adaptive testing are similar to golden section search strategies (GSSSs). Each middle point of successive search regions is a testing point. After each item is administered, the subject's obtained score is compared with the expected score at successive testing points. If the subject's obtained…

  7. Adaptive hybrid control of manipulators

    NASA Technical Reports Server (NTRS)

    Seraji, H.

    1987-01-01

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

  8. Adaptive control of linearizable systems

    NASA Technical Reports Server (NTRS)

    Sastry, S. Shankar; Isidori, Alberto

    1989-01-01

    Initial results are reported regarding the adaptive control of minimum-phase nonlinear systems which are exactly input-output linearizable by state feedback. Parameter adaptation is used as a technique to make robust the exact cancellation of nonlinear terms, which is called for in the linearization technique. The application of the adaptive technique to control of robot manipulators is discussed. Only the continuous-time case is considered; extensions to the discrete-time and sampled-data cases are not obvious.

  9. Multigrid solution strategies for adaptive meshing problems

    NASA Technical Reports Server (NTRS)

    Mavriplis, Dimitri J.

    1995-01-01

    This paper discusses the issues which arise when combining multigrid strategies with adaptive meshing techniques for solving steady-state problems on unstructured meshes. A basic strategy is described, and demonstrated by solving several inviscid and viscous flow cases. Potential inefficiencies in this basic strategy are exposed, and various alternate approaches are discussed, some of which are demonstrated with an example. Although each particular approach exhibits certain advantages, all methods have particular drawbacks, and the formulation of a completely optimal strategy is considered to be an open problem.

  10. Avian influenza control strategies

    Technology Transfer Automated Retrieval System (TEKTRAN)

    Control strategies for avian influenza in poultry vary depending on whether the goal is prevention, management, or eradication. Components used in control programs include: 1) education which includes communication, public awareness, and behavioral change, 2) changes to production and marketing sys...

  11. Strategies for Computerized Adaptive Grading Testing.

    ERIC Educational Resources Information Center

    Xiao, Beiling

    1999-01-01

    Evaluated three strategies for assigning examinees to grading categories in computerized adaptive testing. The expected a posteriori-based method had more correct classifications in the middle range of grade levels and more errors for the extremes than the golden section search grading test and the Z-score grading test. (SLD)

  12. Adaptive neural control of spacecraft using control moment gyros

    NASA Astrophysics Data System (ADS)

    Leeghim, Henzeh; Kim, Donghoon

    2015-03-01

    An adaptive control technique is applied to reorient spacecraft with uncertainty using control moment gyros. A nonlinear quaternion feedback law is chosen as a baseline controller. An additional adaptive control input supported by neural networks can estimate and eliminate unknown terms adaptively. The normalized input neural networks are considered for reliable computation of the adaptive input. To prove the stability of the closed-loop dynamics with the control law, the Lyapunov stability theory is considered. Accordingly, the proposed approach results in the uniform ultimate boundedness in tracking error. For reorientation maneuvers, control moment gyros are utilized with a well-known singularity problem described in this work investigated by predicting one-step ahead singularity index. A momentum vector recovery approach using magnetic torquers is also introduced to evaluate the avoidance strategies indirectly. Finally, the suggested methods are demonstrated by numerical simulation studies.

  13. Aircraft adaptive learning control

    NASA Technical Reports Server (NTRS)

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

    1979-01-01

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

  14. Climate change adaptation strategies and mitigation policies

    NASA Astrophysics Data System (ADS)

    García Fernández, Cristina

    2015-04-01

    The pace of climate change and the consequent warming of the Earth's surface is increasing vulnerability and decreasing adaptive capacity. Achieving a successful adaptation depends on the development of technology, institutional organization, financing availability and the exchange of information. Populations living in arid and semi-arid zones, low-lying coastal areas, land with water shortages or at risk of overflow or small islands are particularly vulnerable to climate change. Due to increasing population density in sensitive areas, some regions have become more vulnerable to events such as storms, floods and droughts, like the river basins and coastal plains. Human activities have fragmented and increased the vulnerability of ecosystems, which limit both, their natural adaptation and the effectiveness of the measures adopted. Adaptation means to carry out the necessary modifications for society to adapt to new climatic conditions in order to reduce their vulnerability to climate change. Adaptive capacity is the ability of a system to adjust to climate change (including climate variability and extremes) and to moderate potential damages, to take advantage of opportunities or face the consequences. Adaptation reduces the adverse impacts of climate change and enhance beneficial impacts, but will not prevent substantial cost that are produced by all damages. The performances require adaptation actions. These are defined and implemented at national, regional or local levels since many of the impacts and vulnerabilities depend on the particular economic, geographic and social circumstances of each country or region. We will present some adaptation strategies at national and local level and revise some cases of its implementation in several vulnerable areas. However, adaptation to climate change must be closely related to mitigation policies because the degree of change planned in different climatic variables is a function of the concentration levels that are achieved

  15. Strategies for adapting to high rates of employee turnover.

    PubMed

    Mowday, R T

    1984-01-01

    For many organizations facing high rates of employee turnover, strategies for increasing employee retention may not be practical because employees leave for reasons beyond the control of management or the costs of reducing turnover exceed the benefits to be derived. In this situation managers need to consider strategies that can minimize or buffer the organization from the negative consequences that often follow from turnover. Strategies organizations can use to adapt to uncontrollably high employee turnover rates are presented in this article. In addition, suggestions are made for how managers should make choices among the alternative strategies.

  16. Adaptation Strategies for Global Environmental Change

    NASA Astrophysics Data System (ADS)

    Ojima, D. S.; Corell, R.

    2007-12-01

    The global environmental challenges society faces today are unheralded due to the pace at which human activities are affecting the earth system. The rates of energy consumption, nitrogen use and production, and water use increases each year leading to greater global environmental changes affecting warming of the earth system and loss of ecosystem services. The challenge we face today as a society is the manner and speed at which we can adapt to these changes affecting the ecosystem services we depend upon. Innovative strategies are needed to develop the adaptive management tools to integrate the sectors and science necessary to deal with the complexity of effects. Developing strategies to better guide decision making related to climate change trends into changing weather patterns at meaningful temporal and spatial scales are needed, observations and prognostic analyses of climate related triggers of threshold events in ecosystem dynamics, and transfer of knowledge between science, technology, and decision makers. These strategies need to better integrate science (physical, biological, and social knowledge), engineering, policy, and economics interests to create a framework to develop strategies for adaptation and mitigation to global change and to create bridges with institutions and organizations that deal with these issues as a governmental agency or private sector enterprise.

  17. Complex adaptive therapeutic strategy (CATS) for cancer.

    PubMed

    Cho, Yong Woo; Kim, Sang Yoon; Kwon, Ick Chan; Kim, In-San

    2014-02-10

    Tumors begin with a single cell, but as each tumor grows and evolves, it becomes a wide collection of clones that display remarkable heterogeneity in phenotypic features, which has posed a big challenge to current targeted anticancer therapy. Intra- and inter-tumoral heterogeneity is attributable in part to genetic mutations but also to adaptation and evolution of tumors to heterogeneity in tumor microenvironments. If tumors are viewed not only as a disease but also as a complex adaptive system (CAS), tumors should be treated as such and a more systemic approach is needed. Some of many tumors therapeutic strategies are discussed here from a view of a tumor as CAS, which can be collectively called a complex adaptive therapeutic strategy (CATS). The central theme of CATS is based on three intermediate concepts: i) disruption of artifacts, ii) disruption of connections, and iii) reprogramming of cancer-immune dynamics. Each strategy presented here is a piece of the puzzle for CATS. Although each piece by itself may be neither novel nor profound, an assembled puzzle could be a novel and innovative cancer therapeutic strategy.

  18. Climate adaptation strategy for natural resources released

    NASA Astrophysics Data System (ADS)

    Showstack, Randy

    2013-04-01

    The National Fish, Wildlife, and Plants Climate Adaptation Strategy, released on 26 March by the Obama administration, calls for a series of measures to help public and private decision makers better address the effects of climate change on living natural resources. The measures include conserving habitat to support healthy fish, wildlife, and plant populations and ecosystem functions; managing species and habitats to protect ecosystem functions and provide sustainable commercial, subsistence, recreational, and cultural use; increasing knowledge and information about effects on and responses of fish, wildlife, and plants; and reducing nonclimate stressors to help fish, wildlife, plants, and ecosystems adapt.

  19. Robust adaptive control of HVDC systems

    SciTech Connect

    Reeve, J.; Sultan, M. )

    1994-07-01

    The transient performance of an HVDC power system is highly dependent on the parameters of the current/voltage regulators of the converter controls. In order to better accommodate changes in system structure or dc operating conditions, this paper introduces a new adaptive control strategy. The advantages of automatic tuning for continuous fine tuning are combined with predetermined gain scheduling in order to achieve robustness for large disturbances. Examples are provided for a digitally simulated back-to-back dc system.

  20. Nonlinear and adaptive control

    NASA Technical Reports Server (NTRS)

    Athans, Michael

    1989-01-01

    The primary thrust of the research was to conduct fundamental research in the theories and methodologies for designing complex high-performance multivariable feedback control systems; and to conduct feasibiltiy studies in application areas of interest to NASA sponsors that point out advantages and shortcomings of available control system design methodologies.

  1. Robust adaptive control of MEMS triaxial gyroscope using fuzzy compensator.

    PubMed

    Fei, Juntao; Zhou, Jian

    2012-12-01

    In this paper, a robust adaptive control strategy using a fuzzy compensator for MEMS triaxial gyroscope, which has system nonlinearities, including model uncertainties and external disturbances, is proposed. A fuzzy logic controller that could compensate for the model uncertainties and external disturbances is incorporated into the adaptive control scheme in the Lyapunov framework. The proposed adaptive fuzzy controller can guarantee the convergence and asymptotical stability of the closed-loop system. The proposed adaptive fuzzy control strategy does not depend on accurate mathematical models, which simplifies the design procedure. The innovative development of intelligent control methods incorporated with conventional control for the MEMS gyroscope is derived with the strict theoretical proof of the Lyapunov stability. Numerical simulations are investigated to verify the effectiveness of the proposed adaptive fuzzy control scheme and demonstrate the satisfactory tracking performance and robustness against model uncertainties and external disturbances compared with conventional adaptive control method.

  2. Adaptive and Nonlinear Control

    DTIC Science & Technology

    1992-02-29

    in [22], we also applied the concept of zero dynamics to the problem of exact linearization of a nonlinear control system by dynamic feedback. Exact ...nonlinear systems, although it was well-known that the conditions for exact linearization are very stringent and consequently do not apply to a broad...29th IEEE Conference n Decision and Control, Invited Paper delivered by Dr. Gilliam. Exact Linearization of Zero Dynamics, 29th IEEE Conference on

  3. Adaptive Strategies for Materials Design using Uncertainties.

    PubMed

    Balachandran, Prasanna V; Xue, Dezhen; Theiler, James; Hogden, John; Lookman, Turab

    2016-01-21

    We compare several adaptive design strategies using a data set of 223 M2AX family of compounds for which the elastic properties [bulk (B), shear (G), and Young's (E) modulus] have been computed using density functional theory. The design strategies are decomposed into an iterative loop with two main steps: machine learning is used to train a regressor that predicts elastic properties in terms of elementary orbital radii of the individual components of the materials; and a selector uses these predictions and their uncertainties to choose the next material to investigate. The ultimate goal is to obtain a material with desired elastic properties in as few iterations as possible. We examine how the choice of data set size, regressor and selector impact the design. We find that selectors that use information about the prediction uncertainty outperform those that don't. Our work is a step in illustrating how adaptive design tools can guide the search for new materials with desired properties.

  4. Adaptive control with aerospace applications

    NASA Astrophysics Data System (ADS)

    Gadient, Ross

    Robust and adaptive control techniques have a rich history of theoretical development with successful application. Despite the accomplishments made, attempts to combine the best elements of each approach into robust adaptive systems has proven challenging, particularly in the area of application to real world aerospace systems. In this research, we investigate design methods for general classes of systems that may be applied to representative aerospace dynamics. By combining robust baseline control design with augmentation designs, our work aims to leverage the advantages of each approach. This research contributes the development of robust model-based control design for two classes of dynamics: 2nd order cascaded systems, and a more general MIMO framework. We present a theoretically justified method for state limiting via augmentation of a robust baseline control design. Through the development of adaptive augmentation designs, we are able to retain system performance in the presence of uncertainties. We include an extension that combines robust baseline design with both state limiting and adaptive augmentations. In addition we develop an adaptive augmentation design approach for a class of dynamic input uncertainties. We present formal stability proofs and analyses for all proposed designs in the research. Throughout the work, we present real world aerospace applications using relevant flight dynamics and flight test results. We derive robust baseline control designs with application to both piloted and unpiloted aerospace system. Using our developed methods, we add a flight envelope protecting state limiting augmentation for piloted aircraft applications and demonstrate the efficacy of our approach via both simulation and flight test. We illustrate our adaptive augmentation designs via application to relevant fixed-wing aircraft dynamics. Both a piloted example combining the state limiting and adaptive augmentation approaches, and an unpiloted example with

  5. Robust Optimal Adaptive Control Method with Large Adaptive Gain

    NASA Technical Reports Server (NTRS)

    Nguyen, Nhan T.

    2009-01-01

    In the presence of large uncertainties, a control system needs to be able to adapt rapidly to regain performance. Fast adaptation is referred to the implementation of adaptive control with a large adaptive gain to reduce the tracking error rapidly. However, a large adaptive gain can lead to high-frequency oscillations which can adversely affect robustness of an adaptive control law. A new adaptive control modification is presented that can achieve robust adaptation with a large adaptive gain without incurring high-frequency oscillations as with the standard model-reference adaptive control. The modification is based on the minimization of the Y2 norm of the tracking error, which is formulated as an optimal control problem. The optimality condition is used to derive the modification using the gradient method. The optimal control modification results in a stable adaptation and allows a large adaptive gain to be used for better tracking while providing sufficient stability robustness. Simulations were conducted for a damaged generic transport aircraft with both standard adaptive control and the adaptive optimal control modification technique. The results demonstrate the effectiveness of the proposed modification in tracking a reference model while maintaining a sufficient time delay margin.

  6. Age-Related Differences in Locomotor Strategies During Adaptive Walking.

    PubMed

    Lowry, Kristin A; Sebastian, Katherine; Perera, Subashan; Van Swearingen, Jessie; Smiley-Oyen, Ann L

    2016-11-21

    Simultaneous control of lower limb stepping movements and trunk motion is important for skilled walking; adapting gait to environmental constraints requires frequent alternations in stepping and trunk motion. These alterations provide a window into the locomotor strategies adopted by the walker. The authors examined gait strategies in young and healthy older adults when manipulating step width. Anteroposterior (AP) and mediolateral (ML) smoothness (quantified by harmonic ratios) and stepping consistency (quantified by gait variability) were analyzed during narrow and wide walking while controlling cadence to preferred pace. Results indicated older adults preserved ML smoothness at the expense of AP smoothness, shortened their steps, and exhibited reduced stepping consistency. The authors conclude that older adults prioritized ML control over forward progression during adaptive walking challenges.

  7. Supervisory Control Strategy Development

    SciTech Connect

    Gary D. Storrick; Bojan Petrovic

    2007-02-28

    Task 4 of this collaborative effort between ORNL, Brazil, and Westinghouse for the International Nuclear Energy Research Initiative entitled “Development of Advanced Instrumentation and Control for an Integrated Primary System Reactor” focused on the design of the hierarchical supervisory control for multiple-module units. The state of the IRIS plant design – specifically, the lack of a detailed secondary system design – made developing a detailed hierarchical control difficult at this time. However, other simultaneous and ongoing efforts have contributed to providing the needed information. This report summarizes the results achieved under Task 4 of this Financial Assistance Award. Section 1.2 describes the scope of this effort. Section 2 discusses the IRIS control functions. Next, it briefly reviews the current control concepts, and then reviews the maneuvering requirements for the IRIS plant. It closes by noting the benefits that automated sequences have in reducing operator workload. Section 3 examines reactor loading in the frequency domain to establish some guidelines for module operation, paying particular attention to strategies for using process steam for desalination and/or district heating. The final subsection discusses the implications for reactor control, and argues that using the envisioned percentage (up to 10%) of the NSSS thermal output for these purposes should not significantly affect the NSSS control strategies. Section 4 uses some very general economic assumptions to suggest how one should approach multi-module operation. It concludes that the well-known algorithms used for economic dispatching could be used to help manage a multi-unit IRIS site. Section 5 addresses the human performance factors of multi-module operation. Section 6 summarizes our conclusions.

  8. Parallel computations and control of adaptive structures

    NASA Technical Reports Server (NTRS)

    Park, K. C.; Alvin, Kenneth F.; Belvin, W. Keith; Chong, K. P. (Editor); Liu, S. C. (Editor); Li, J. C. (Editor)

    1991-01-01

    The equations of motion for structures with adaptive elements for vibration control are presented for parallel computations to be used as a software package for real-time control of flexible space structures. A brief introduction of the state-of-the-art parallel computational capability is also presented. Time marching strategies are developed for an effective use of massive parallel mapping, partitioning, and the necessary arithmetic operations. An example is offered for the simulation of control-structure interaction on a parallel computer and the impact of the approach presented for applications in other disciplines than aerospace industry is assessed.

  9. Adaptive Strategies in the Iterated Exchange Problem

    NASA Astrophysics Data System (ADS)

    Baraov, Arthur

    2011-03-01

    We argue for clear separation of the exchange problem from the exchange paradox to avoid confusion about the subject matter of these two distinct problems. The exchange problem in its current format belongs to the domain of optimal decision making—it doesn't make any sense as a game of competition. But it takes just a tiny modification in the statement of the problem to breathe new life into it and make it a practicable and meaningful game of competition. In this paper, we offer an explanation for paradoxical priors and discuss adaptive strategies for both the house and the player in the restated exchange problem.

  10. Real Time & Power Efficient Adaptive - Robust Control

    NASA Astrophysics Data System (ADS)

    Ioan Gliga, Lavinius; Constantin Mihai, Cosmin; Lupu, Ciprian; Popescu, Dumitru

    2017-01-01

    A design procedure for a control system suited for dynamic variable processes is presented in this paper. The proposed adaptive - robust control strategy considers both adaptive control advantages and robust control benefits. It estimates the degradation of the system’s performances due to the dynamic variation in the process and it then utilizes it to determine when the system must be adapted with a redesign of the robust controller. A single integral criterion is used for the identification of the process, and for the design of the control algorithm, which is expressed in direct form, through a cost function defined in the space of the parameters of both the process and the controller. For the minimization of this nonlinear function, an adequate mathematical programming minimization method is used. The theoretical approach presented in this paper was validated for a closed loop control system, simulated in an application developed in C. Because of the reduced number of operations, this method is suitable for implementation on fast processes. Due to its effectiveness, it increases the idle time of the CPU, thereby saving electrical energy.

  11. Adaptive strategies for materials design using uncertainties

    SciTech Connect

    Balachandran, Prasanna V.; Xue, Dezhen; Theiler, James; Hogden, John; Lookman, Turab

    2016-01-21

    Here, we compare several adaptive design strategies using a data set of 223 M2AX family of compounds for which the elastic properties [bulk (B), shear (G), and Young’s (E) modulus] have been computed using density functional theory. The design strategies are decomposed into an iterative loop with two main steps: machine learning is used to train a regressor that predicts elastic properties in terms of elementary orbital radii of the individual components of the materials; and a selector uses these predictions and their uncertainties to choose the next material to investigate. The ultimate goal is to obtain a material with desired elastic properties in as few iterations as possible. We examine how the choice of data set size, regressor and selector impact the design. We find that selectors that use information about the prediction uncertainty outperform those that don’t. Our work is a step in illustrating how adaptive design tools can guide the search for new materials with desired properties.

  12. Adaptive strategies for materials design using uncertainties

    DOE PAGES

    Balachandran, Prasanna V.; Xue, Dezhen; Theiler, James; ...

    2016-01-21

    Here, we compare several adaptive design strategies using a data set of 223 M2AX family of compounds for which the elastic properties [bulk (B), shear (G), and Young’s (E) modulus] have been computed using density functional theory. The design strategies are decomposed into an iterative loop with two main steps: machine learning is used to train a regressor that predicts elastic properties in terms of elementary orbital radii of the individual components of the materials; and a selector uses these predictions and their uncertainties to choose the next material to investigate. The ultimate goal is to obtain a material withmore » desired elastic properties in as few iterations as possible. We examine how the choice of data set size, regressor and selector impact the design. We find that selectors that use information about the prediction uncertainty outperform those that don’t. Our work is a step in illustrating how adaptive design tools can guide the search for new materials with desired properties.« less

  13. Adaptive Strategies for Materials Design using Uncertainties

    PubMed Central

    Balachandran, Prasanna V.; Xue, Dezhen; Theiler, James; Hogden, John; Lookman, Turab

    2016-01-01

    We compare several adaptive design strategies using a data set of 223 M2AX family of compounds for which the elastic properties [bulk (B), shear (G), and Young’s (E) modulus] have been computed using density functional theory. The design strategies are decomposed into an iterative loop with two main steps: machine learning is used to train a regressor that predicts elastic properties in terms of elementary orbital radii of the individual components of the materials; and a selector uses these predictions and their uncertainties to choose the next material to investigate. The ultimate goal is to obtain a material with desired elastic properties in as few iterations as possible. We examine how the choice of data set size, regressor and selector impact the design. We find that selectors that use information about the prediction uncertainty outperform those that don’t. Our work is a step in illustrating how adaptive design tools can guide the search for new materials with desired properties. PMID:26792532

  14. Biometeorology - a science supporting adaptation strategies

    NASA Astrophysics Data System (ADS)

    Matzarakis, A.; Cegnar, T.

    2010-09-01

    Biometeorology as an interdisciplinary science deals with the interactions between atmospheric processes and living organisms (plants, animals and humans). If and in what way weather and climate affect the well-being of all the living creatures? This is the most important question biometeorology is answering. The International Society of Biometeorology (ISB) has built an international forum for the promotion of interdisciplinary collaboration between meteorologists, health professionals, biologists, climatologists, ecologists and other scientists. The Society acts as a community of scientists with similar interests, and fulfills an important role in providing information, expertise and advice for international organizations requiring this assistance. The ISB represents the most comprehensive organization, which brings together people with expertise in these areas. Another specific aim of the ISB is the stimulation of research. Therefore, groups of members are working on several topics organized in commissions for specific targets. The recent five commissions are working in the several fields including climate change issues. Some of examples will be presented, which have been initiated by the members of the ISB and how they can be included as a solid scientific basis to develop efficient adaptation strategies. One such example is a project combining natural and social sciences (in the fields of cooperation processes, tourism analysis and strategy, weather and climate change analysis, information and communication and knowledge transfer) in a transdisciplinary approach that includes players from tourism policy and business and which focuses on the North Sea Coast and the Black Forest. The project "Climate trends and sustainable development of tourism in coastal and mountain range regions was divided into four phases - diagnosis, assessment, strategy/design of solutions, and evaluation - where scientific subprojects and practical partners meet regularly to discuss the

  15. The reduced order model problem in distributed parameter systems adaptive identification and control

    NASA Technical Reports Server (NTRS)

    Johnson, C. R., Jr.

    1980-01-01

    The research concerning the reduced order model problem in distributed parameter systems is reported. The adaptive control strategy was chosen for investigation in the annular momentum control device. It is noted, that if there is no observation spill over, and no model errors, an indirect adaptive control strategy can be globally stable. Recent publications concerning adaptive control are included.

  16. Adaptable state based control system

    NASA Technical Reports Server (NTRS)

    Rasmussen, Robert D. (Inventor); Dvorak, Daniel L. (Inventor); Gostelow, Kim P. (Inventor); Starbird, Thomas W. (Inventor); Gat, Erann (Inventor); Chien, Steve Ankuo (Inventor); Keller, Robert M. (Inventor)

    2004-01-01

    An autonomous controller, comprised of a state knowledge manager, a control executor, hardware proxies and a statistical estimator collaborates with a goal elaborator, with which it shares common models of the behavior of the system and the controller. The elaborator uses the common models to generate from temporally indeterminate sets of goals, executable goals to be executed by the controller. The controller may be updated to operate in a different system or environment than that for which it was originally designed by the replacement of shared statistical models and by the instantiation of a new set of state variable objects derived from a state variable class. The adaptation of the controller does not require substantial modification of the goal elaborator for its application to the new system or environment.

  17. Direct Adaptive Control Of An Industrial Robot

    NASA Technical Reports Server (NTRS)

    Seraji, Homayoun; Lee, Thomas; Delpech, Michel

    1992-01-01

    Decentralized direct adaptive control scheme for six-jointed industrial robot eliminates part of overall computational burden imposed by centralized controller and degrades performance of robot by reducing sampling rate. Control and controller-adaptation laws based on observed performance of manipulator: no need to model dynamics of robot. Adaptive controllers cope with uncertainties and variations in robot and payload.

  18. 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.

  19. Adaptive controller for hyperthermia robot

    SciTech Connect

    Kress, R.L.

    1997-03-01

    This paper describes the development of an adaptive computer control routine for a robotically, deployed focused, ultrasonic hyperthermia cancer treatment system. The control algorithm developed herein uses physiological models of a tumor and the surrounding healthy tissue regions and transient temperature data to estimate the treatment region`s blood perfusion. This estimate is used to vary the specific power profile of a scanned, focused ultrasonic transducer to achieve a temperature distribution as close as possible to an optimal temperature distribution. The controller is evaluated using simulations of diseased tissue and using limited experiments on a scanned, focused ultrasonic treatment system that employs a 5-Degree-of-Freedom (D.O.F.) robot to scan the treatment transducers over a simulated patient. Results of the simulations and experiments indicate that the adaptive control routine improves the temperature distribution over standard classical control algorithms if good (although not exact) knowledge of the treated region is available. Although developed with a scanned, focused ultrasonic robotic treatment system in mind, the control algorithm is applicable to any system with the capability to vary specific power as a function of volume and having an unknown distributed energy sink proportional to temperature elevation (e.g., other robotically deployed hyperthermia treatment methods using different heating modalities).

  20. Adaptive versus nonadaptive strategies for quantum channel discrimination

    SciTech Connect

    Harrow, Aram W.; Hassidim, Avinatan; Leung, Debbie W.; Watrous, John

    2010-03-15

    We provide a simple example that illustrates the advantage of adaptive over nonadaptive strategies for quantum channel discrimination. In particular, we give a pair of entanglement-breaking channels that can be perfectly discriminated by means of an adaptive strategy that requires just two channel evaluations, but for which no nonadaptive strategy can give a perfect discrimination using any finite number of channel evaluations.

  1. Digital adaptive flight controller development

    NASA Technical Reports Server (NTRS)

    Kaufman, H.; Alag, G.; Berry, P.; Kotob, S.

    1974-01-01

    A design study of adaptive control logic suitable for implementation in modern airborne digital flight computers was conducted. Two designs are described for an example aircraft. Each of these designs uses a weighted least squares procedure to identify parameters defining the dynamics of the aircraft. The two designs differ in the way in which control law parameters are determined. One uses the solution of an optimal linear regulator problem to determine these parameters while the other uses a procedure called single stage optimization. Extensive simulation results and analysis leading to the designs are presented.

  2. Considering Culturally Relevant Parenting Practices in Intervention Development and Adaptation: A Randomized Controlled Trial of the Black Parenting Strengths and Strategies (BPSS) Program

    ERIC Educational Resources Information Center

    Coard, Stephanie I.; Foy-Watson, Shani; Zimmer, Catherine; Wallace, Amy

    2007-01-01

    A randomized prevention pilot trial compared caregivers who participated in the Black Parenting Strengths and Strategies (BPSS) Program with control caregivers. BPSS is a strengths- and culturally based parenting program designed to improve aspects of parenting associated with the early development of conduct problems and the promotion of social…

  3. Adaptive Force Control in Compliant Motion

    NASA Technical Reports Server (NTRS)

    Seraji, H.

    1994-01-01

    This paper addresses the problem of controlling a manipulator in compliant motion while in contact with an environment having an unknown stiffness. Two classes of solutions are discussed: adaptive admittance control and adaptive compliance control. In both admittance and compliance control schemes, compensator adaptation is used to ensure a stable and uniform system performance.

  4. Keck adaptive optics: control subsystem

    SciTech Connect

    Brase, J.M.; An, J.; Avicola, K.

    1996-03-08

    Adaptive optics on the Keck 10 meter telescope will provide an unprecedented level of capability in high resolution ground based astronomical imaging. The system is designed to provide near diffraction limited imaging performance with Strehl {gt} 0.3 n median Keck seeing of r0 = 25 cm, T =10 msec at 500 nm wavelength. The system will be equipped with a 20 watt sodium laser guide star to provide nearly full sky coverage. The wavefront control subsystem is responsible for wavefront sensing and the control of the tip-tilt and deformable mirrors which actively correct atmospheric turbulence. The spatial sampling interval for the wavefront sensor and deformable mirror is de=0.56 m which gives us 349 actuators and 244 subapertures. This paper summarizes the wavefront control system and discusses particular issues in designing a wavefront controller for the Keck telescope.

  5. Adaptive Controller Effects on Pilot Behavior

    NASA Technical Reports Server (NTRS)

    Trujillo, Anna C.; Gregory, Irene M.; Hempley, Lucas E.

    2014-01-01

    Adaptive control provides robustness and resilience for highly uncertain, and potentially unpredictable, flight dynamics characteristic. Some of the recent flight experiences of pilot-in-the-loop with an adaptive controller have exhibited unpredicted interactions. In retrospect, this is not surprising once it is realized that there are now two adaptive controllers interacting, the software adaptive control system and the pilot. An experiment was conducted to categorize these interactions on the pilot with an adaptive controller during control surface failures. One of the objectives of this experiment was to determine how the adaptation time of the controller affects pilots. The pitch and roll errors, and stick input increased for increasing adaptation time and during the segment when the adaptive controller was adapting. Not surprisingly, altitude, cross track and angle deviations, and vertical velocity also increase during the failure and then slowly return to pre-failure levels. Subjects may change their behavior even as an adaptive controller is adapting with additional stick inputs. Therefore, the adaptive controller should adapt as fast as possible to minimize flight track errors. This will minimize undesirable interactions between the pilot and the adaptive controller and maintain maneuvering precision.

  6. A Climate Change Adaptation Strategy for Management of ...

    EPA Pesticide Factsheets

    Sea level rise is causing shoreline erosion, increased coastal flooding, and marsh vulnerability to the impact of storms. Coastal marshes provide flood abatement, carbon and nutrient sequestration, water quality maintenance, and habitat for fish, shellfish, and wildlife, including species of concern, such as the saltmarsh sparrow (Ammodramus caudacutus). We present a climate change adaptation strategy (CCAS) adopted by scientific, management, and policy stakeholders for managing coastal marshes and enhancing system resiliency. A common adaptive management approach previously used for restoration projects was modified to identify climate-related vulnerabilities and plan climate change adaptive actions. As an example of implementation of the CCAS, we describe the stakeholder plans and management actions the US Fish and Wildlife Service and partners developed to build coastal resiliency in the Narrow River Estuary, RI, in the aftermath of Superstorm Sandy. When possible, an experimental BACI (before-after, control-impact) design, described as pre- and post-sampling at the impact site and one or more control sites, was incorporated into the climate change adaptation and implementation plans. Specific climate change adaptive actions and monitoring plans are described and include shoreline stabilization, restoring marsh drainage, increasing marsh elevation, and enabling upland marsh migration. The CCAS provides a framework and methodology for successfully managing coa

  7. Adaptive limiter control of unimodal population maps.

    PubMed

    Franco, Daniel; Hilker, Frank M

    2013-11-21

    We analyse the adaptive limiter control (ALC) method, which was recently proposed for stabilizing population oscillations and experimentally tested in laboratory populations and metapopulations of Drosophila melanogaster. We thoroughly explain the mechanisms that allow ALC to reduce the magnitude of population fluctuations under certain conditions. In general, ALC is a control strategy with a number of useful properties (e.g. being globally asymptotically stable), but there may be some caveats. The control can be ineffective or even counterproductive at small intensities, and the interventions can be extremely costly at very large intensities. Based on our analytical results, we describe recipes how to choose the control intensity, depending on the range of population sizes we wish to target. In our analysis, we highlight the possible importance of initial transients and classify them into different categories.

  8. Adaptive-feedback control algorithm.

    PubMed

    Huang, Debin

    2006-06-01

    This paper is motivated by giving the detailed proofs and some interesting remarks on the results the author obtained in a series of papers [Phys. Rev. Lett. 93, 214101 (2004); Phys. Rev. E 71, 037203 (2005); 69, 067201 (2004)], where an adaptive-feedback algorithm was proposed to effectively stabilize and synchronize chaotic systems. This note proves in detail the strictness of this algorithm from the viewpoint of mathematics, and gives some interesting remarks for its potential applications to chaos control & synchronization. In addition, a significant comment on synchronization-based parameter estimation is given, which shows some techniques proposed in literature less strict and ineffective in some cases.

  9. Adaptive Flight Control for Aircraft Safety Enhancements

    NASA Technical Reports Server (NTRS)

    Nguyen, Nhan T.; Gregory, Irene M.; Joshi, Suresh M.

    2008-01-01

    This poster presents the current adaptive control research being conducted at NASA ARC and LaRC in support of the Integrated Resilient Aircraft Control (IRAC) project. The technique "Approximate Stability Margin Analysis of Hybrid Direct-Indirect Adaptive Control" has been developed at NASA ARC to address the needs for stability margin metrics for adaptive control that potentially enables future V&V of adaptive systems. The technique "Direct Adaptive Control With Unknown Actuator Failures" is developed at NASA LaRC to deal with unknown actuator failures. The technique "Adaptive Control with Adaptive Pilot Element" is being researched at NASA LaRC to investigate the effects of pilot interactions with adaptive flight control that can have implications of stability and performance.

  10. Can rewiring strategy control the epidemic spreading?

    NASA Astrophysics Data System (ADS)

    Dong, Chao; Yin, Qiuju; Liu, Wenyang; Yan, Zhijun; Shi, Tianyu

    2015-11-01

    Relation existed in the social contact network can affect individuals' behaviors greatly. Considering the diversity of relation intimacy among network nodes, an epidemic propagation model is proposed by incorporating the link-breaking threshold, which is normally neglected in the rewiring strategy. The impact of rewiring strategy on the epidemic spreading in the weighted adaptive network is explored. The results show that the rewiring strategy cannot always control the epidemic prevalence, especially when the link-breaking threshold is low. Meanwhile, as well as strong links, weak links also play a significant role on epidemic spreading.

  11. Adaptive Strategy Selection in Decision Making.

    DTIC Science & Technology

    1986-07-31

    s__uc _N__SSEFORE COMLZTM[G FORM . REPORT NUMBER ’ 2. GOVT ACCESSION NO. I RECIP ENT* S CATALOG NUMUER 86-1 V4L_ 𔃾 6 4. TITLE (and Subltl)e. S . TYPE OF...Controlling Office) IS. SECURITY CLASS. (of thle eporl) Unclassified Ia. DECLASSIFICATION/DOWNGRADING S . : SCHEDULE * -F.. I. DISTRIBUTION STATEMENT (ofhis...EDITION OF i NOV 65 IS OBSOLETE S /N 0102- LF- 014. 6601 SECURITY CLASSIFICATION OF THIS PAGE (Mhen bets fntard) efficient strategies for a given

  12. Control strategies. [of robotic manipulators path

    NASA Technical Reports Server (NTRS)

    Wang, J. C.; Mcinnis, B. C.; Shieh, L. S.

    1988-01-01

    Techniques for improving the performance of robotic-manipulator path-control systems comprising independent SISO feedback controllers for each joint are discussed and illustrated with block diagrams, reviewing the results of recent analytical investigations. Topics examined include the servo design for a single link, the equations of motion for manipulators, SISO servo design for multiple links, inverse methods, pole placement with compensation of the gravity terms, linear state-feedback control based on the perturbation equations, and adaptive control methods. Consideration is given to variable-structure systems, suboptimal controllers, and the optimal-design-strategy approach.

  13. A holistic strategy for adaptive land management

    Technology Transfer Automated Retrieval System (TEKTRAN)

    Adaptive management is widely applied to natural resources management. Adaptive management can be generally defined as an iterative decision-making process that incorporates formulation of management objectives, actions designed to address these objectives, monitoring of results, and repeated adapta...

  14. National Drug Control Strategy, 2011

    ERIC Educational Resources Information Center

    Office of National Drug Control Policy, 2011

    2011-01-01

    In May of 2010, President Obama released the Administration's inaugural "National Drug Control Strategy". Based on the premise that drug use and its consequences pose a threat not just to public safety, but also to public health, the 2010 "Strategy" represented the first comprehensive rebalancing of Federal drug control policy in the nearly 40…

  15. A decentralized adaptive robust method for chaos control.

    PubMed

    Kobravi, Hamid-Reza; Erfanian, Abbas

    2009-09-01

    This paper presents a control strategy, which is based on sliding mode control, adaptive control, and fuzzy logic system for controlling the chaotic dynamics. We consider this control paradigm in chaotic systems where the equations of motion are not known. The proposed control strategy is robust against the external noise disturbance and system parameter variations and can be used to convert the chaotic orbits not only to the desired periodic ones but also to any desired chaotic motions. Simulation results of controlling some typical higher order chaotic systems demonstrate the effectiveness of the proposed control method.

  16. Adapting MCH strategies for the nineties.

    PubMed

    Abel, R

    1994-01-01

    Brief overview was given for strategies in maternal and child health (MCH) in India that were used in the 1980s and adapted for the 1990s in the following areas: perinatal outcomes, empowerment of women, immunization, oral rehydration, adolescent girls, anthropometric measurement, health education, management, and coordination with nongovernmental organizations (NGOs). In order to assure a healthy baby weighing 2.5 kg, monitoring of maternal health is occurring. Iron and folic acid and tetanus toxoid vaccine are provided to pregnant mothers, and fetal growth is monitored. Training of traditional birth attendants and multipurpose health workers will contribute to clean deliveries and referral of complicated pregnancies. During the 1990s, women's health in addition to maternal health has received attention. The empowerment of women to care for themselves, to learn how to mix oral rehydration packets (ORS) at home, and to receive the knowledge and skills were deemed more important than the 1980s focus on the delivery system and inputs of MCH. An excellent cold chain for delivery of vaccines has been put in place, which provides the vehicle for the 1990s to maintain high vaccine coverage. The emphasis on oral rehydration in the 1990s will be on teaching mothers about the importance of ORS treatment of diarrhea. During the 1990s, educating the adolescent girl before she becomes married and pregnant will be the focus. Greater emphasis will be placed on stunting or height for age measurements, as a measure of long term nutritional change; age weight for height for measurement of wasting; and maternal nutritional monitoring of arm circumference. Sustained health education, more media exposure to disease conditions and treatment, and social marketing in health will be better coordinated and more cost effective. Accountability for manpower, materials, and money will be in place within management. Management will focus on motivation and training, and other, newer management

  17. A holistic strategy for adaptive land management

    USGS Publications Warehouse

    Herrick, Jeffrey E.; Duniway, Michael C.; Pyke, David A.; Bestelmeyer, Brandon T.; Wills, Skye A.; Brown, Joel R.; Karl, Jason W.; Havstad, Kris M.

    2012-01-01

    Adaptive management is widely applied to natural resources management (Holling 1973; Walters and Holling 1990). Adaptive management can be generally defined as an iterative decision-making process that incorporates formulation of management objectives, actions designed to address these objectives, monitoring of results, and repeated adaptation of management until desired results are achieved (Brown and MacLeod 1996; Savory and Butterfield 1999). However, adaptive management is often criticized because very few projects ever complete more than one cycle, resulting in little adaptation and little knowledge gain (Lee 1999; Walters 2007). One significant criticism is that adaptive management is often used as a justification for undertaking actions with uncertain outcomes or as a surrogate for the development of specific, measurable indicators and monitoring programs (Lee 1999; Ruhl 2007).

  18. On adaptive modal control of large flexible spacecraft

    NASA Technical Reports Server (NTRS)

    Johnson, C. R., Jr.

    1979-01-01

    A recently developed strategy for adaptive sampled-data control of distributed parameter systems based on a plant modal expansion description and modal simultaneous identification and regulation algorithms is presented with frequent reference to the annular momentum control device (AMCD) test example. The requirements of observation spillover reduction and modal eigenvector shape prespecification, which are especially crucial to the proposed adaptive control strategy, are addressed. Individual low pass time filtering of sensed AMCD particle displacements is proposed for observation spillover reduction. A layered scheme incorporating 'eigenvector' shape improvement is outlined to combat the expansion basis prespecification requirement.

  19. Statistical Physics for Adaptive Distributed Control

    NASA Technical Reports Server (NTRS)

    Wolpert, David H.

    2005-01-01

    A viewgraph presentation on statistical physics for distributed adaptive control is shown. The topics include: 1) The Golden Rule; 2) Advantages; 3) Roadmap; 4) What is Distributed Control? 5) Review of Information Theory; 6) Iterative Distributed Control; 7) Minimizing L(q) Via Gradient Descent; and 8) Adaptive Distributed Control.

  20. Synthesis of nonlinear adaptive controller for a batch distillation.

    PubMed

    Jana, Amiya K

    2007-02-01

    A nonlinear adaptive control strategy is proposed for a binary batch distillation column. The hybrid control algorithm comprises a generic model controller (GMC) and a nonlinear adaptive state estimator (ASE). The adaptive observation scheme mainly estimates the imprecisely known parameters based on the available tray temperature measurements. The sensitivity of the proposed estimator is investigated with respect to the effect of initialization error, unmeasured disturbance and uncertainty. Then, a comparative study is carried out between the derived nonlinear GMC-ASE controller and a traditional proportional integral law in terms of set point tracking and disturbance rejection performance. The study also includes the effect of measurement noise and parametric uncertainty on the closed-loop performance. The proposed adaptive control algorithm is shown to be quite promising due to the exponential error convergence capability of the ASE estimator in addition to the high-quality control action provided by the GMC controller.

  1. Flight Test Approach to Adaptive Control Research

    NASA Technical Reports Server (NTRS)

    Pavlock, Kate Maureen; Less, James L.; Larson, David Nils

    2011-01-01

    The National Aeronautics and Space Administration s Dryden Flight Research Center completed flight testing of adaptive controls research on a full-scale F-18 testbed. The validation of adaptive controls has the potential to enhance safety in the presence of adverse conditions such as structural damage or control surface failures. This paper describes the research interface architecture, risk mitigations, flight test approach and lessons learned of adaptive controls research.

  2. Bed bugs evolved unique adaptive strategy to resist pyrethroid insecticides.

    PubMed

    Zhu, Fang; Gujar, Hemant; Gordon, Jennifer R; Haynes, Kenneth F; Potter, Michael F; Palli, Subba R

    2013-01-01

    Recent advances in genomic and post-genomic technologies have facilitated a genome-wide analysis of the insecticide resistance-associated genes in insects. Through bed bug, Cimex lectularius transcriptome analysis, we identified 14 molecular markers associated with pyrethroid resistance. Our studies revealed that most of the resistance-associated genes functioning in diverse mechanisms are expressed in the epidermal layer of the integument, which could prevent or slow down the toxin from reaching the target sites on nerve cells, where an additional layer of resistance (kdr) is possible. This strategy evolved in bed bugs is based on their unique morphological, physiological and behavioral characteristics and has not been reported in any other insect species. RNA interference-aided knockdown of resistance associated genes showed the relative contribution of each mechanism towards overall resistance development. Understanding the complexity of adaptive strategies employed by bed bugs will help in designing the most effective and sustainable bed bug control methods.

  3. Bed bugs evolved unique adaptive strategy to resist pyrethroid insecticides

    PubMed Central

    Zhu, Fang; Gujar, Hemant; Gordon, Jennifer R.; Haynes, Kenneth F.; Potter, Michael F.; Palli, Subba R.

    2013-01-01

    Recent advances in genomic and post-genomic technologies have facilitated a genome-wide analysis of the insecticide resistance-associated genes in insects. Through bed bug, Cimex lectularius transcriptome analysis, we identified 14 molecular markers associated with pyrethroid resistance. Our studies revealed that most of the resistance-associated genes functioning in diverse mechanisms are expressed in the epidermal layer of the integument, which could prevent or slow down the toxin from reaching the target sites on nerve cells, where an additional layer of resistance (kdr) is possible. This strategy evolved in bed bugs is based on their unique morphological, physiological and behavioral characteristics and has not been reported in any other insect species. RNA interference-aided knockdown of resistance associated genes showed the relative contribution of each mechanism towards overall resistance development. Understanding the complexity of adaptive strategies employed by bed bugs will help in designing the most effective and sustainable bed bug control methods. PMID:23492626

  4. Adaptive, predictive controller for optimal process control

    SciTech Connect

    Brown, S.K.; Baum, C.C.; Bowling, P.S.; Buescher, K.L.; Hanagandi, V.M.; Hinde, R.F. Jr.; Jones, R.D.; Parkinson, W.J.

    1995-12-01

    One can derive a model for use in a Model Predictive Controller (MPC) from first principles or from experimental data. Until recently, both methods failed for all but the simplest processes. First principles are almost always incomplete and fitting to experimental data fails for dimensions greater than one as well as for non-linear cases. Several authors have suggested the use of a neural network to fit the experimental data to a multi-dimensional and/or non-linear model. Most networks, however, use simple sigmoid functions and backpropagation for fitting. Training of these networks generally requires large amounts of data and, consequently, very long training times. In 1993 we reported on the tuning and optimization of a negative ion source using a special neural network[2]. One of the properties of this network (CNLSnet), a modified radial basis function network, is that it is able to fit data with few basis functions. Another is that its training is linear resulting in guaranteed convergence and rapid training. We found the training to be rapid enough to support real-time control. This work has been extended to incorporate this network into an MPC using the model built by the network for predictive control. This controller has shown some remarkable capabilities in such non-linear applications as continuous stirred exothermic tank reactors and high-purity fractional distillation columns[3]. The controller is able not only to build an appropriate model from operating data but also to thin the network continuously so that the model adapts to changing plant conditions. The controller is discussed as well as its possible use in various of the difficult control problems that face this community.

  5. National Drug Control Strategy. Update

    ERIC Educational Resources Information Center

    Office of National Drug Control Policy, 2005

    2005-01-01

    The first National Drug Control Strategy set ambitious two and five-year performance based goals: (1) to lower the rate of drug use by 10 percent over 2 years among both youth and adults; and (2) to lower the rate by 25 percent over 5 years. The chapters in this updated version are keyed to the strategies three priorities: (1) Stopping Use Before…

  6. National Drug Control Strategy. Update.

    ERIC Educational Resources Information Center

    Office of National Drug Control Policy, Washington, DC.

    President Bush's new National Drug Control Strategy for 2003 focuses on three core priorities: stopping drug use before it starts; healing America's drug users; and disrupting the market. The 2003 strategy reports progress toward meeting the President's goals of reducing drug use by 10 percent over 2 years, and 25 percent over 5 years. With regard…

  7. Adaptation and optimal chemotactic strategy for {ital E. coli}

    SciTech Connect

    Strong, S.P.; Bialek, William; Koberle, R. Freedman, B.

    1998-04-01

    Extending the classic works of Berg and Purcell on the biophysics of bacterial chemotaxis, we find the optimal chemotactic strategy for the peritrichous bacterium {ital E. coli} in the high and low signal to noise ratio limits. The optimal strategy depends on properties of the environment and properties of the individual bacterium, and is therefore highly adaptive. We review experiments relevant to testing both the form of the proposed strategy and its adaptability, and propose extensions of them which could test the limits of the adaptability in this simplest sensory processing system. {copyright} {ital 1998} {ital The American Physical Society}

  8. Adaptive Control: Actual Status and Trends

    NASA Technical Reports Server (NTRS)

    Landau, I. D.

    1985-01-01

    Important progress in research and application of Adaptive Control Systems has been achieved in the last ten years. The techniques which are currently used in applications will be reviewed. Theoretical aspects currently under investigation and which are related to the application of adaptive control techniques in various fields will be briefly discussed. Applications in various areas will be briefly reviewed. The use of adaptive techniques for vibrations monitoring and active vibration control will be emphasized.

  9. Research in digital adaptive flight controllers

    NASA Technical Reports Server (NTRS)

    Kaufman, H.

    1976-01-01

    A design study of adaptive control logic suitable for implementation in modern airborne digital flight computers was conducted. Both explicit controllers which directly utilize parameter identification and implicit controllers which do not require identification were considered. Extensive analytical and simulation efforts resulted in the recommendation of two explicit digital adaptive flight controllers. Interface weighted least squares estimation procedures with control logic were developed using either optimal regulator theory or with control logic based upon single stage performance indices.

  10. The control of equilibrium in Parkinson's disease patients: delayed adaptation of balancing strategy to shifts in sensory set during a dynamic task.

    PubMed

    De Nunzio, Alessandro M; Nardone, Antonio; Schieppati, Marco

    2007-09-28

    Processing of sensory information, timing operations and set-shifting can be affected in Parkinson's disease (PD) patients. We investigated their capacity and swiftness to pass from a kinaesthetic- to a vision-dependent behaviour during dynamic balancing on a continuously moving support base. Nineteen on-phase PD patients and 13 age-matched normal subjects stood on a platform continuously translating in the antero-posterior direction at 0.2 Hz. Body segment oscillations were identified by a stereophotogrammetric device and electromyogram (EMG) was recorded from tibialis anterior and soleus. Under constant visual conditions, both patients and normal subjects roughly stabilised head and trunk in space with eyes open (EO) but followed the platform displacement with eyes closed (EC). Amplitude and variability of the periodic EMG bursts were smaller with EO than EC. Constant visual-condition trials were intermingled with trials in which subjects opened (EC-EO) or closed (EO-EC) the eyes in response to an acoustic signal. Both patients and normal subjects changed kinematics and EMG patterns to those appropriate for the new visual condition. However, PD patients were slower in changing their behaviour under the EC-EO condition. These findings show abnormal temporal features in balancing strategy adaptation when shifting from kinaesthetic to visual reference in PD. The delay in the implementation of the vision-dependent behaviour was unexpected, given the advantage vision is supposed to confer to motor performance in PD. This condition may play a major role in the instability of patients performing dynamic postural tasks under changing sensory conditions.

  11. Adaptive Controller Adaptation Time and Available Control Authority Effects on Piloting

    NASA Technical Reports Server (NTRS)

    Trujillo, Anna; Gregory, Irene

    2013-01-01

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

  12. Heteroresistance at the Single-Cell Level: Adapting to Antibiotic Stress through a Population-Based Strategy and Growth-Controlled Interphenotypic Coordination

    PubMed Central

    Wang, Xiaorong; Kang, Yu; Luo, Chunxiong; Zhao, Tong; Liu, Lin; Jiang, Xiangdan; Fu, Rongrong; An, Shuchang; Chen, Jichao; Jiang, Ning; Ren, Lufeng; Wang, Qi; Baillie, J. Kenneth; Gao, Zhancheng; Yu, Jun

    2014-01-01

    ABSTRACT Heteroresistance refers to phenotypic heterogeneity of microbial clonal populations under antibiotic stress, and it has been thought to be an allocation of a subset of “resistant” cells for surviving in higher concentrations of antibiotic. The assumption fits the so-called bet-hedging strategy, where a bacterial population “hedges” its “bet” on different phenotypes to be selected by unpredicted environment stresses. To test this hypothesis, we constructed a heteroresistance model by introducing a blaCTX-M-14 gene (coding for a cephalosporin hydrolase) into a sensitive Escherichia coli strain. We confirmed heteroresistance in this clone and that a subset of the cells expressed more hydrolase and formed more colonies in the presence of ceftriaxone (exhibited stronger “resistance”). However, subsequent single-cell-level investigation by using a microfluidic device showed that a subset of cells with a distinguishable phenotype of slowed growth and intensified hydrolase expression emerged, and they were not positively selected but increased their proportion in the population with ascending antibiotic concentrations. Therefore, heteroresistance—the gradually decreased colony-forming capability in the presence of antibiotic—was a result of a decreased growth rate rather than of selection for resistant cells. Using a mock strain without the resistance gene, we further demonstrated the existence of two nested growth-centric feedback loops that control the expression of the hydrolase and maximize population growth in various antibiotic concentrations. In conclusion, phenotypic heterogeneity is a population-based strategy beneficial for bacterial survival and propagation through task allocation and interphenotypic collaboration, and the growth rate provides a critical control for the expression of stress-related genes and an essential mechanism in responding to environmental stresses. PMID:24520060

  13. Adaptive control: Myths and realities

    NASA Technical Reports Server (NTRS)

    Athans, M.; Valavani, L.

    1984-01-01

    It was found that all currently existing globally stable adaptive algorithms have three basic properties in common: positive realness of the error equation, square-integrability of the parameter adjustment law and, need for sufficient excitation for asymptotic parameter convergence. Of the three, the first property is of primary importance since it satisfies a sufficient condition for stabillity of the overall system, which is a baseline design objective. The second property has been instrumental in the proof of asymptotic error convergence to zero, while the third addresses the issue of parameter convergence. Positive-real error dynamics can be generated only if the relative degree (excess of poles over zeroes) of the process to be controlled is known exactly; this, in turn, implies perfect modeling. This and other assumptions, such as absence of nonminimum phase plant zeros on which the mathematical arguments are based, do not necessarily reflect properties of real systems. As a result, it is natural to inquire what happens to the designs under less than ideal assumptions. The issues arising from violation of the exact modeling assumption which is extremely restrictive in practice and impacts the most important system property, stability, are discussed.

  14. Adaptive control based on retrospective cost optimization

    NASA Astrophysics Data System (ADS)

    Santillo, Mario A.

    This dissertation studies adaptive control of multi-input, multi-output, linear, time-invariant, discrete-time systems that are possibly unstable and nonminimum phase. We consider both gradient-based adaptive control as well as retrospective-cost-based adaptive control. Retrospective cost optimization is a measure of performance at the current time based on a past window of data and without assumptions about the command or disturbance signals. In particular, retrospective cost optimization acts as an inner loop to the adaptive control algorithm by modifying the performance variables based on the difference between the actual past control inputs and the recomputed past control inputs based on the current control law. We develop adaptive control algorithms that are effective for systems that are nonminimum phase. We consider discrete-time adaptive control since these control laws can be implemented directly in embedded code without requiring an intermediate discretization step. Furthermore, the adaptive controllers in this dissertation are developed under minimal modeling assumptions. In particular, the adaptive controllers require knowledge of the sign of the high-frequency gain and a sufficient number of Markov parameters to approximate the nonminimum-phase zeros (if any). No additional modeling information is necessary. The adaptive controllers presented in this dissertation are developed for full-state-feedback stabilization, static-output-feedback stabilization, as well as dynamic compensation for stabilization, command following, disturbance rejection, and model reference adaptive control. Lyapunov-based stability and convergence proofs are provided for special cases. We present numerical examples to illustrate the algorithms' effectiveness in handling systems that are unstable and/or nonminimum phase and to provide insight into the modeling information required for controller implementation.

  15. Strategies to control trachoma.

    PubMed

    Mathew, Anu A; Turner, Angus; Taylor, Hugh R

    2009-05-29

    Trachoma is a significant public health problem that is endemic in 57 countries, affecting 40.6 million people and contributing to 4% of the global burden of blindness. Repeated episodes of infection from Chlamydia trachomatis lead to long-term inflammation, scarring of the tarsal conjunctiva and distortion of the upper eyelid with in-turning of eyelashes that abrade the surface of the globe. This constant abrasion, in turn, can cause irreversible corneal opacity and blindness. The Alliance for the Global Elimination of Trachoma by 2020 (GET2020) has adopted the SAFE (Surgery, Antibiotics, Facial cleanliness and Environmental improvement) strategy as the main action against trachoma. Trichiasis surgery reduces the risk of blindness by reversing the in-turning of eyelashes and also improves the quality of life from non-visual symptoms. However, future efforts need to aim at increasing accessibility to surgery and improving acceptance. Antibacterials are required to reduce the burden of infection. Oral azithromycin is as close to the perfect antibacterial as we will get for mass distribution: it is safe, requires only a single oral dose, treatment is usually repeated every 6-12 months, resistance is not seen as a problem, and cost is not a limiting factor with a large donation programme and newer generic versions of the drug. Future focus should be on the details of antibacterial distribution such as coverage, frequency of distribution and target population. The promotion of facial cleanliness through education may be the key to trachoma elimination as it will stop the frequent exchange of infected ocular secretions and thus reduce the transmission of infection. However, innovative methods are required to translate health education and promotion activities into sustainable changes in hygiene behaviour. Environmental improvements should focus on the barriers to achieving facial cleanliness and cost-effective means need to be identified. There are a number of countries

  16. Adaptive strategies for cumulative cultural learning.

    PubMed

    Ehn, Micael; Laland, Kevin

    2012-05-21

    The demographic and ecological success of our species is frequently attributed to our capacity for cumulative culture. However, it is not yet known how humans combine social and asocial learning to generate effective strategies for learning in a cumulative cultural context. Here we explore how cumulative culture influences the relative merits of various pure and conditional learning strategies, including pure asocial and social learning, critical social learning, conditional social learning and individual refiner strategies. We replicate the Rogers' paradox in the cumulative setting. However, our analysis suggests that strategies that resolved Rogers' paradox in a non-cumulative setting may not necessarily evolve in a cumulative setting, thus different strategies will optimize cumulative and non-cumulative cultural learning.

  17. A Methodology for Investigating Adaptive Postural Control

    NASA Technical Reports Server (NTRS)

    McDonald, P. V.; Riccio, G. E.

    1999-01-01

    overt goals. It follows that an essential characteristic of postural behavior is the effective maintenance of the orientation and stability of the sensory and motor "platforms" (e.g., head or shoulders) over variations in the human, the environment and the task. This general skill suggests that individuals should be sensitive to the functional consequences of body configuration and stability. In other words, individuals should perceive the relation between configuration, stability, and performance so that they can adaptively control their interaction with the surroundings. Human-environment interactions constitute robust systems in that individuals can maintain the stability of such interactions over uncertainty about and variations in the dynamics of the interaction. Robust interactions allow individuals to adopt orientations and configurations that are not optimal with respect to purely energetic criteria. Individuals can tolerate variation in postural states, and such variation can serve an important function in adaptive systems. Postural variability generates stimulation which is "textured" by the dynamics of the human-environment system. The texture or structure in stimulation provides information about variation in dynamics, and such information can be sufficient to guide adaption in control strategies. Our method were designed to measure informative patterns of movement variability.

  18. Human Operator Control Strategy Model.

    DTIC Science & Technology

    1980-04-01

    control learning control strategy N computer simulation of motor behavior ABSTRACT (Continue on reverese ide If necesery end Identify by block numbe...Frank Vogler has been a continuing resource during testing and analysis phases. Cooperative Plan students Kirk Hoyer , Bob Baltar, and Bob Hummel have...Introduction ....... .................... .. 79 1. Question 1: Do HOPE models match human behavior to an acceptable extent? .... ............ ... 80

  19. Operator versus computer control of adaptive automation

    NASA Technical Reports Server (NTRS)

    Hilburn, Brian; Molloy, Robert; Wong, Dick; Parasuraman, Raja

    1993-01-01

    Adaptive automation refers to real-time allocation of functions between the human operator and automated subsystems. The article reports the results of a series of experiments whose aim is to examine the effects of adaptive automation on operator performance during multi-task flight simulation, and to provide an empirical basis for evaluations of different forms of adaptive logic. The combined results of these studies suggest several things. First, it appears that either excessively long, or excessively short, adaptation cycles can limit the effectiveness of adaptive automation in enhancing operator performance of both primary flight and monitoring tasks. Second, occasional brief reversions to manual control can counter some of the monitoring inefficiency typically associated with long cycle automation, and further, that benefits of such reversions can be sustained for some time after return to automated control. Third, no evidence was found that the benefits of such reversions depend on the adaptive logic by which long-cycle adaptive switches are triggered.

  20. Dynamic optimization and adaptive controller design

    NASA Astrophysics Data System (ADS)

    Inamdar, S. R.

    2010-10-01

    In this work I present a new type of controller which is an adaptive tracking controller which employs dynamic optimization for optimizing current value of controller action for the temperature control of nonisothermal continuously stirred tank reactor (CSTR). We begin with a two-state model of nonisothermal CSTR which are mass and heat balance equations and then add cooling system dynamics to eliminate input multiplicity. The initial design value is obtained using local stability of steady states where approach temperature for cooling action is specified as a steady state and a design specification. Later we make a correction in the dynamics where material balance is manipulated to use feed concentration as a system parameter as an adaptive control measure in order to avoid actuator saturation for the main control loop. The analysis leading to design of dynamic optimization based parameter adaptive controller is presented. The important component of this mathematical framework is reference trajectory generation to form an adaptive control measure.

  1. A Global Space Control Strategy

    DTIC Science & Technology

    2014-12-01

    panic within the booming commercial satellite industry or, worse, suggesting a space arms race . The US Air Force uses the terminology of “ space ...Views November–December 2014 Air & Space Power Journal | 66 A Global Space Control Strategy Dr. B. T. Cesul The 2011 National Security Space ...Strategy notes that space is becoming an operating medium in which the continued dominance of the United States is not assured.1 Already, potential

  2. The Contextual Adaptation of English Teachers' Questioning Strategies

    ERIC Educational Resources Information Center

    Xi, Hong-mei; Li, Wang-zi; Lei, Ping

    2010-01-01

    In order to guarantee an interactive classroom atmosphere, English teachers pay much attention to the questioning strategies when they use question-answer teaching method. This paper makes a comprehensive analysis on English teachers' questioning strategies from the perspective of adaptation theory. It shows that the utilization of teachers'…

  3. Method and apparatus for adaptive force and position control of manipulators

    NASA Technical Reports Server (NTRS)

    Seraji, Homayoun (Inventor)

    1995-01-01

    The described and improved multi-arm invention of this application presents three strategies for adaptive control of cooperative multi-arm robots which coordinate control over a common load. In the position-position control strategy, the adaptive controllers ensure that the end-effector positions of both arms track desired trajectories in Cartesian space despite unknown time-varying interaction forces exerted through a load. In the position-hybrid control strategy, the adaptive controller of one arm controls end-effector motions in the free directions and applied forces in the constraint directions; while the adaptive controller of the other arm ensures that the end-effector tracks desired position trajectories. In the hybrid-hybrid control strategy, the adaptive controllers ensure that both end-effectors track reference position trajectories while simultaneously applying desired forces on the load. In all three control strategies, the cross-coupling effects between the arms are treated as disturbances which are compensated for by the adaptive controllers while following desired commands in a common frame of reference. The adaptive controllers do not require the complex mathematical model of the arm dynamics or any knowledge of the arm dynamic parameters or the load parameters such as mass and stiffness. Circuits in the adaptive feedback and feedforward controllers are varied by novel adaptation laws.

  4. Adaptive finite element strategies for shell structures

    NASA Technical Reports Server (NTRS)

    Stanley, G.; Levit, I.; Stehlin, B.; Hurlbut, B.

    1992-01-01

    The present paper extends existing finite element adaptive refinement (AR) techniques to shell structures, which have heretofore been neglected in the AR literature. Specific challenges in applying AR to shell structures include: (1) physical discontinuities (e.g., stiffener intersections); (2) boundary layers; (3) sensitivity to geometric imperfections; (4) the sensitivity of most shell elements to mesh distortion, constraint definition and/or thinness; and (5) intrinsic geometric nonlinearity. All of these challenges but (5) are addressed here.

  5. Predictor-Based Model Reference Adaptive Control

    NASA Technical Reports Server (NTRS)

    Lavretsky, Eugene; Gadient, Ross; Gregory, Irene M.

    2009-01-01

    This paper is devoted to robust, Predictor-based Model Reference Adaptive Control (PMRAC) design. The proposed adaptive system is compared with the now-classical Model Reference Adaptive Control (MRAC) architecture. Simulation examples are presented. Numerical evidence indicates that the proposed PMRAC tracking architecture has better than MRAC transient characteristics. In this paper, we presented a state-predictor based direct adaptive tracking design methodology for multi-input dynamical systems, with partially known dynamics. Efficiency of the design was demonstrated using short period dynamics of an aircraft. Formal proof of the reported PMRAC benefits constitute future research and will be reported elsewhere.

  6. Flight Approach to Adaptive Control Research

    NASA Technical Reports Server (NTRS)

    Pavlock, Kate Maureen; Less, James L.; Larson, David Nils

    2011-01-01

    The National Aeronautics and Space Administration's Dryden Flight Research Center completed flight testing of adaptive controls research on a full-scale F-18 testbed. The testbed served as a full-scale vehicle to test and validate adaptive flight control research addressing technical challenges involved with reducing risk to enable safe flight in the presence of adverse conditions such as structural damage or control surface failures. This paper describes the research interface architecture, risk mitigations, flight test approach and lessons learned of adaptive controls research.

  7. Adaptive process control using fuzzy logic and genetic algorithms

    NASA Technical Reports Server (NTRS)

    Karr, C. L.

    1993-01-01

    Researchers at the U.S. Bureau of Mines have developed adaptive process control systems in which genetic algorithms (GA's) are used to augment fuzzy logic controllers (FLC's). GA's are search algorithms that rapidly locate near-optimum solutions to a wide spectrum of problems by modeling the search procedures of natural genetics. FLC's are rule based systems that efficiently manipulate a problem environment by modeling the 'rule-of-thumb' strategy used in human decision making. Together, GA's and FLC's possess the capabilities necessary to produce powerful, efficient, and robust adaptive control systems. To perform efficiently, such control systems require a control element to manipulate the problem environment, and a learning element to adjust to the changes in the problem environment. Details of an overall adaptive control system are discussed. A specific laboratory acid-base pH system is used to demonstrate the ideas presented.

  8. Adaptive Process Control with Fuzzy Logic and Genetic Algorithms

    NASA Technical Reports Server (NTRS)

    Karr, C. L.

    1993-01-01

    Researchers at the U.S. Bureau of Mines have developed adaptive process control systems in which genetic algorithms (GA's) are used to augment fuzzy logic controllers (FLC's). GA's are search algorithms that rapidly locate near-optimum solutions to a wide spectrum of problems by modeling the search procedures of natural genetics. FLC's are rule based systems that efficiently manipulate a problem environment by modeling the 'rule-of-thumb' strategy used in human decision-making. Together, GA's and FLC's possess the capabilities necessary to produce powerful, efficient, and robust adaptive control systems. To perform efficiently, such control systems require a control element to manipulate the problem environment, an analysis element to recognize changes in the problem environment, and a learning element to adjust to the changes in the problem environment. Details of an overall adaptive control system are discussed. A specific laboratory acid-base pH system is used to demonstrate the ideas presented.

  9. Exposure to stressful environments - Strategy of adaptive responses

    NASA Technical Reports Server (NTRS)

    Farhi, Leon E.

    1991-01-01

    Stresses such as hypoxia, water lack, and heat exposure can produce strains in more than a single organ system, in turn stimulating the body to adapt in multiple ways. Nevertheless, a general strategy of the various adaptive responses emerges when the challenges are divided into three groups: (1) conditions that affect the supply of essential molecules, (2) stresses that prevent the body from regulating properly the output of waste products such as CO2 and heat, and (3) environments that disrupt body transport systems. Problems may arise when there is a conflict between two stresses requiring conflicting adaptive changes. An alternative to adaptation, creation of microenvironment, is often favored by the animal.

  10. Digital adaptive control laws for VTOL aircraft

    NASA Technical Reports Server (NTRS)

    Hartmann, G. L.; Stein, G.

    1979-01-01

    Honeywell has designed a digital self-adaptive flight control system for flight test in the VALT Research Aircraft (a modified CH-47). The final design resulted from a comparison of two different adaptive concepts: one based on explicit parameter estimates from a real-time maximum likelihood estimation algorithm and the other based on an implicit model reference adaptive system. The two designs are compared on the basis of performance and complexity.

  11. Focus on climate projections for adaptation strategies

    NASA Astrophysics Data System (ADS)

    Feijt, Arnout; Appenzeller, Christof; Siegmund, Peter; von Storch, Hans

    2016-01-01

    Most papers in this focus issue on ‘climate and climate impact projections for adaptation strategies’ are solicited by the guest editorial team and originate from a cluster of projects that were initiated 5 years ago. These projects aimed to provide climate change and climate change adaptation information for a wide range of societal areas for the lower parts of the deltas of the Rhine and Meuse rivers, and particularly for the Netherlands. The papers give an overview of our experiences, methods, approaches, results and surprises in the process to developing scientifically underpinned climate products and services for various clients. Although the literature on interactions between society and climate science has grown over the past decade both with respect to policy-science framing in post-normal science (Storch et al 2011 J. Environ. Law Policy 1 1-15, van der Sluijs 2012 Nature and Culture 7 174-195), user-science framing (Berkhout et al 2014 Regional Environ. Change 14 879-93) and joint knowledge production (Hegger et al 2014 Regional Environ. Change 14 1049-62), there is still a lot to gain. With this focus issue we want to contribute to best practices in this quickly moving field between science and society.

  12. Adaptation Strategies of Individuals With Anterior Cruciate Ligament Reconstruction

    PubMed Central

    Roper, Jaimie A.; Terza, Matthew J.; Tillman, Mark D.; Hass, Chris J.

    2016-01-01

    Background: Despite the strong implications for rehabilitation design, the capability of individuals with anterior cruciate ligament reconstruction (ACLR) to adapt and store novel gait patterns have not been well studied. Purpose: To investigate how reconstructive surgery may affect the ability to adapt and store novel gait patterns in persons with ACLR while walking on a split-belt treadmill. Study Design: Controlled laboratory study. Methods: Gait adaptation was compared between 20 participants with ACLR and 20 healthy controls during split-belt treadmill walking. Gait adaptation was assessed in slow- and fast-adapting parameters by (1) the magnitude of symmetry during late adaptation and (2) the amount of the asymmetry during de-adaptation. Results: Healthy individuals adapted a new walking pattern and stored the new walking pattern equally in both the dominant and nondominant limbs. Conversely, individuals with ACLR displayed impairments in both slow-adapting and fast-adapting derived gait adaptation and significant differences in behavior between the reconstructed and uninjured limb. Conclusion: While surgical reconstruction and physical therapy are aimed at improving mechanical stability to the knee, the study data suggest that fundamental features of motor control remain altered. After ACLR, participants display an altered ability to learn and store functional gait patterns. PMID:26894200

  13. The adaptive control system of acetylene generator

    NASA Astrophysics Data System (ADS)

    Kovaliuk, D. O.; Kovaliuk, Oleg; Burlibay, Aron; Gromaszek, Konrad

    2015-12-01

    The method of acetylene production in acetylene generator was analyzed. It was found that impossible to provide the desired process characteristics by the PID-controller. The adaptive control system of acetylene generator was developed. The proposed system combines the classic controller and fuzzy subsystem for controller parameters tuning.

  14. Wireless Control of an LC Adaptive Lens

    NASA Astrophysics Data System (ADS)

    Vdovin, G.; Loktev, M.; Zhang, X.

    We consider using liquid crystal adaptive lenses to correct the accommodation loss and higher-order aberrations of the human eye. In this configuration, the adaptive lens is embedded into the eye lens implant and can be controlled through a wireless inductive link. In this work we experimentally demonstrate a wireless control of a liquid crystal adaptive lens in a wide range of its focusing power by using two coupled coils with the primary coil driven from a low-voltage source through a switching control circuit and the secondary coil used to drive the lens.

  15. Chaotic satellite attitude control by adaptive approach

    NASA Astrophysics Data System (ADS)

    Wei, Wei; Wang, Jing; Zuo, Min; Liu, Zaiwen; Du, Junping

    2014-06-01

    In this article, chaos control of satellite attitude motion is considered. Adaptive control based on dynamic compensation is utilised to suppress the chaotic behaviour. Control approaches with three control inputs and with only one control input are proposed. Since the adaptive control employed is based on dynamic compensation, faithful model of the system is of no necessity. Sinusoidal disturbance and parameter uncertainties are considered to evaluate the robustness of the closed-loop system. Both of the approaches are confirmed by theoretical and numerical results.

  16. Adaptive Flight Control Research at NASA

    NASA Technical Reports Server (NTRS)

    Motter, Mark A.

    2008-01-01

    A broad overview of current adaptive flight control research efforts at NASA is presented, as well as some more detailed discussion of selected specific approaches. The stated objective of the Integrated Resilient Aircraft Control Project, one of NASA s Aviation Safety programs, is to advance the state-of-the-art of adaptive controls as a design option to provide enhanced stability and maneuverability margins for safe landing in the presence of adverse conditions such as actuator or sensor failures. Under this project, a number of adaptive control approaches are being pursued, including neural networks and multiple models. Validation of all the adaptive control approaches will use not only traditional methods such as simulation, wind tunnel testing and manned flight tests, but will be augmented with recently developed capabilities in unmanned flight testing.

  17. Adaptive nonlinear control for autonomous ground vehicles

    NASA Astrophysics Data System (ADS)

    Black, William S.

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

  18. National Drug Control Strategy, 2006

    ERIC Educational Resources Information Center

    The White House, 2006

    2006-01-01

    This report presents a summary of the Fiscal Year 2007 Budget for the National Drug Control Strategy within the three key priority areas; education and community action, treatment and intervention, and disruption in the illegal drug market. The first chapter, "Stopping Drug Use Before It Starts," outlines the Administration's work to prevent the…

  19. Controlling viral outbreaks: Quantitative strategies

    PubMed Central

    2017-01-01

    Preparing for and responding to outbreaks of serious livestock infectious diseases are critical measures to safeguard animal health, public health, and food supply. Almost all of the current control strategies are empirical, and mass culling or “stamping out” is frequently the principal strategy for controlling epidemics. However, there are ethical, ecological, and economic reasons to consider less drastic control strategies. Here we use modeling to quantitatively study the efficacy of different control measures for viral outbreaks, where the infectiousness, transmissibility and death rate of animals commonly depends on their viral load. We develop a broad theoretical framework for exploring and understanding this heterogeneity. The model includes both direct transmission from infectious animals and indirect transmission from an environmental reservoir. We then incorporate a large variety of control measures, including vaccination, antivirals, isolation, environmental disinfection, and several forms of culling, which may result in fewer culled animals. We provide explicit formulae for the basic reproduction number, R0, for each intervention and for combinations. We evaluate the control methods for a realistic simulated outbreak of low pathogenic avian influenza on a mid-sized turkey farm. In this simulated outbreak, culling results in more total dead birds and dramatically more when culling all of the infected birds. PMID:28187137

  20. Parallel Programming Strategies for Irregular Adaptive Applications

    NASA Technical Reports Server (NTRS)

    Biswas, Rupak; Biegel, Bryan (Technical Monitor)

    2001-01-01

    Achieving scalable performance for dynamic irregular applications is eminently challenging. Traditional message-passing approaches have been making steady progress towards this goal; however, they suffer from complex implementation requirements. The use of a global address space greatly simplifies the programming task, but can degrade the performance for such computations. In this work, we examine two typical irregular adaptive applications, Dynamic Remeshing and N-Body, under competing programming methodologies and across various parallel architectures. The Dynamic Remeshing application simulates flow over an airfoil, and refines localized regions of the underlying unstructured mesh. The N-Body experiment models two neighboring Plummer galaxies that are about to undergo a merger. Both problems demonstrate dramatic changes in processor workloads and interprocessor communication with time; thus, dynamic load balancing is a required component.

  1. Global Isotope Metabolomics Reveals Adaptive Strategies for Nitrogen Assimilation.

    PubMed

    Kurczy, Michael E; Forsberg, Erica M; Thorgersen, Michael P; Poole, Farris L; Benton, H Paul; Ivanisevic, Julijana; Tran, Minerva L; Wall, Judy D; Elias, Dwayne A; Adams, Michael W W; Siuzdak, Gary

    2016-06-17

    Nitrogen cycling is a microbial metabolic process essential for global ecological/agricultural balance. To investigate the link between the well-established ammonium and the alternative nitrate assimilation metabolic pathways, global isotope metabolomics was employed to examine three nitrate reducing bacteria using (15)NO3 as a nitrogen source. In contrast to a control (Pseudomonas stutzeri RCH2), the results show that two of the isolates from Oak Ridge, Tennessee (Pseudomonas N2A2 and N2E2) utilize nitrate and ammonia for assimilation concurrently with differential labeling observed across multiple classes of metabolites including amino acids and nucleotides. The data reveal that the N2A2 and N2E2 strains conserve nitrogen-containing metabolites, indicating that the nitrate assimilation pathway is a conservation mechanism for the assimilation of nitrogen. Co-utilization of nitrate and ammonia is likely an adaption to manage higher levels of nitrite since the denitrification pathways utilized by the N2A2 and N2E2 strains from the Oak Ridge site are predisposed to the accumulation of the toxic nitrite. The use of global isotope metabolomics allowed for this adaptive strategy to be investigated, which would otherwise not have been possible to decipher.

  2. Global isotope metabolomics reveals adaptive strategies for nitrogen assimilation

    SciTech Connect

    Kurczy, Michael E.; Forsberg, Erica M.; Thorgersen, Michael P.; Poole, Farris L.; Benton, H. Paul; Ivanisevic, Julijana; Tran, Minerva L.; Wall, Judy D.; Elias, Dwayne A.; Adams, Michael W. W.; Siuzdak, Gary

    2016-04-05

    Nitrogen cycling is a microbial metabolic process essential for global ecological/agricultural balance. To investigate the link between the well-established ammonium and the alternative nitrate assimilation metabolic pathways, global isotope metabolomics was employed to examine three nitrate reducing bacteria using 15NO3 as a nitrogen source. In contrast to a control (Pseudomonas stutzeri RCH2), the results show that two of the isolates from Oak Ridge, Tennessee (Pseudomonas N2A2 and N2E2) utilize nitrate and ammonia for assimilation concurrently with differential labeling observed across multiple classes of metabolites including amino acids and nucleotides. The data reveal that the N2A2 and N2E2 strains conserve nitrogen-containing metabolites, indicating that the nitrate assimilation pathway is a conservation mechanism for the assimilation of nitrogen. Co-utilization of nitrate and ammonia is likely an adaption to manage higher levels of nitrite since the denitrification pathways utilized by the N2A2 and N2E2 strains from the Oak Ridge site are predisposed to the accumulation of the toxic nitrite. In conclusion, the use of global isotope metabolomics allowed for this adaptive strategy to be investigated, which would otherwise not have been possible to decipher.

  3. Global isotope metabolomics reveals adaptive strategies for nitrogen assimilation

    DOE PAGES

    Kurczy, Michael E.; Forsberg, Erica M.; Thorgersen, Michael P.; ...

    2016-04-05

    Nitrogen cycling is a microbial metabolic process essential for global ecological/agricultural balance. To investigate the link between the well-established ammonium and the alternative nitrate assimilation metabolic pathways, global isotope metabolomics was employed to examine three nitrate reducing bacteria using 15NO3 as a nitrogen source. In contrast to a control (Pseudomonas stutzeri RCH2), the results show that two of the isolates from Oak Ridge, Tennessee (Pseudomonas N2A2 and N2E2) utilize nitrate and ammonia for assimilation concurrently with differential labeling observed across multiple classes of metabolites including amino acids and nucleotides. The data reveal that the N2A2 and N2E2 strains conserve nitrogen-containingmore » metabolites, indicating that the nitrate assimilation pathway is a conservation mechanism for the assimilation of nitrogen. Co-utilization of nitrate and ammonia is likely an adaption to manage higher levels of nitrite since the denitrification pathways utilized by the N2A2 and N2E2 strains from the Oak Ridge site are predisposed to the accumulation of the toxic nitrite. In conclusion, the use of global isotope metabolomics allowed for this adaptive strategy to be investigated, which would otherwise not have been possible to decipher.« less

  4. Control Strategies to Achieve Air Pollution Reduction

    EPA Pesticide Factsheets

    Considerations in designing an effective control strategy related to air quality, controlling pollution sources, need for regional or national controls, steps to developing a control strategy, and additional EPA resources.

  5. Adaptive control for payload launch vibration isolation

    NASA Astrophysics Data System (ADS)

    Jarosh, Julian R.; Agnes, Gregory S.; Karahalis, Gregory G.

    2001-07-01

    The Department of Defense has identified launch vibration isolation as a major research interest. Reducing the loads a satellite experiences during launch will greatly enhance the reliability and lifetime and decrease the payload structural mass. DoD space programs stand to benefit significantly from advances in vibration isolation technology. This study explores potential hybrid vibration isolation using adaptive control with a passive isolator. Lyapunov analysis is used to develop the structural adaptive control scheme. Simulink and Matlab simulations investigate these control methodologies on a lumped mass dynamic model of a satellite and its representative launch vehicle. The results are compared to Proportional-Integral-Derivative (PID) control and skyhook damper active control methods. The results of the modeling indicate adaptive control achieves up to a 90 percent reduction in loads on the payload when compared to the conventional active control methods. The adaptive controller compensated for the loads being transmitted to the payload from the rest of the launch vehicle. The current adaptive controller was not able to effectively control the motion of a vibrating subcomponent within the payload or the subcomponent's effect on the overall payload itself.

  6. Analysis of pilot control strategy

    NASA Technical Reports Server (NTRS)

    Heffley, R. K.; Hanson, G. D.; Jewell, W. F.; Clement, W. F.

    1983-01-01

    Methods for nonintrusive identification of pilot control strategy and task execution dynamics are presented along with examples based on flight data. The specific analysis technique is Nonintrusive Parameter Identification Procedure (NIPIP), which is described in a companion user's guide (NASA CR-170398). Quantification of pilot control strategy and task execution dynamics is discussed in general terms followed by a more detailed description of how NIPIP can be applied. The examples are based on flight data obtained from the NASA F-8 digital fly by wire airplane. These examples involve various piloting tasks and control axes as well as a demonstration of how the dynamics of the aircraft itself are identified using NIPIP. Application of NIPIP to the AFTI/F-16 flight test program is discussed. Recommendations are made for flight test applications in general and refinement of NIPIP to include interactive computer graphics.

  7. A multiple pointing-mount control strategy for space platforms

    NASA Technical Reports Server (NTRS)

    Johnson, C. D.

    1992-01-01

    A new disturbance-adaptive control strategy for multiple pointing-mount space platforms is proposed and illustrated by consideration of a simplified 3-link dynamic model of a multiple pointing-mount space platform. Simulation results demonstrate the effectiveness of the new platform control strategy. The simulation results also reveal a system 'destabilization phenomena' that can occur if the set of individual platform-mounted experiment controllers are 'too responsive.'

  8. On Fractional Model Reference Adaptive Control

    PubMed Central

    Shi, Bao; Dong, Chao

    2014-01-01

    This paper extends the conventional Model Reference Adaptive Control systems to fractional ones based on the theory of fractional calculus. A control law and an incommensurate fractional adaptation law are designed for the fractional plant and the fractional reference model. The stability and tracking convergence are analyzed using the frequency distributed fractional integrator model and Lyapunov theory. Moreover, numerical simulations of both linear and nonlinear systems are performed to exhibit the viability and effectiveness of the proposed methodology. PMID:24574897

  9. Adaptive strategy for the statistical analysis of connectomes.

    PubMed

    Meskaldji, Djalel Eddine; Ottet, Marie-Christine; Cammoun, Leila; Hagmann, Patric; Meuli, Reto; Eliez, Stephan; Thiran, Jean Philippe; Morgenthaler, Stephan

    2011-01-01

    We study an adaptive statistical approach to analyze brain networks represented by brain connection matrices of interregional connectivity (connectomes). Our approach is at a middle level between a global analysis and single connections analysis by considering subnetworks of the global brain network. These subnetworks represent either the inter-connectivity between two brain anatomical regions or by the intra-connectivity within the same brain anatomical region. An appropriate summary statistic, that characterizes a meaningful feature of the subnetwork, is evaluated. Based on this summary statistic, a statistical test is performed to derive the corresponding p-value. The reformulation of the problem in this way reduces the number of statistical tests in an orderly fashion based on our understanding of the problem. Considering the global testing problem, the p-values are corrected to control the rate of false discoveries. Finally, the procedure is followed by a local investigation within the significant subnetworks. We contrast this strategy with the one based on the individual measures in terms of power. We show that this strategy has a great potential, in particular in cases where the subnetworks are well defined and the summary statistics are properly chosen. As an application example, we compare structural brain connection matrices of two groups of subjects with a 22q11.2 deletion syndrome, distinguished by their IQ scores.

  10. 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.

  11. Robust adaptive backstepping control for reentry reusable launch vehicles

    NASA Astrophysics Data System (ADS)

    Wang, Zhen; Wu, Zhong; Du, Yijiang

    2016-09-01

    During the reentry process of reusable launch vehicles (RLVs), the large range of flight envelope will not only result in high nonlinearities, strong coupling and fast time-varying characteristics of the attitude dynamics, but also result in great uncertainties in the atmospheric density, aerodynamic coefficients and environmental disturbances, etc. In order to attenuate the effects of these problems on the control performance of the reentry process, a robust adaptive backstepping control (RABC) strategy is proposed for RLV in this paper. This strategy consists of two-loop controllers designed via backstepping method. Both the outer and the inner loop adopt a robust adaptive controller, which can deal with the disturbances and uncertainties by the variable-structure term with the estimation of their bounds. The outer loop can track the desired attitude by the design of virtual control-the desired angular velocity, while the inner one can track the desired angular velocity by the design of control torque. Theoretical analysis indicates that the closed-loop system under the proposed control strategy is globally asymptotically stable. Even if the boundaries of the disturbances and uncertainties are unknown, the attitude can track the desired value accurately. Simulation results of a certain RLV demonstrate the effectiveness of the control strategy.

  12. Adaptive Through-Thickness Integration Strategy for Shell Elements

    NASA Astrophysics Data System (ADS)

    Burchitz, I. A.; Meinders, T.; Huétink, J.

    2007-05-01

    Reliable numerical prediction of springback in sheet metal forming is essential for the automotive industry. There are numerous factors that influence the accuracy of springback prediction by using the finite element method. One of the reasons is the through-thickness numerical integration of shell elements. It is known that even for simple problems the traditional integration schemes may require up to 50 integration points to achieve a high accuracy of springback analysis. An adaptive through-thickness integration strategy can be a good alternative. The strategy defines abscissas and weights depending on the integrand's properties and, thus, can adapt itself to improve the accuracy of integration. A concept of the adaptive through-thickness integration strategy for shell elements is presented. It is tested using a simple problem of bending of a beam under tension. Results show that for a similar set of material and process parameters the adaptive Simpson's rule with 7 integration points performs better than the traditional trapezoidal rule with 50 points. The adaptive through-thickness integration strategy for shell elements can improve the accuracy of springback prediction at minimal costs.

  13. Stepping strategies for regulating gait adaptability and stability.

    PubMed

    Hak, Laura; Houdijk, Han; Steenbrink, Frans; Mert, Agali; van der Wurff, Peter; Beek, Peter J; van Dieën, Jaap H

    2013-03-15

    Besides a stable gait pattern, gait in daily life requires the capability to adapt this pattern in response to environmental conditions. The purpose of this study was to elucidate the anticipatory strategies used by able-bodied people to attain an adaptive gait pattern, and how these strategies interact with strategies used to maintain gait stability. Ten healthy subjects walked in a Computer Assisted Rehabilitation ENvironment (CAREN). To provoke an adaptive gait pattern, subjects had to hit virtual targets, with markers guided by their knees, while walking on a self-paced treadmill. The effects of walking with and without this task on walking speed, step length, step frequency, step width and the margins of stability (MoS) were assessed. Furthermore, these trials were performed with and without additional continuous ML platform translations. When an adaptive gait pattern was required, subjects decreased step length (p<0.01), tended to increase step width (p=0.074), and decreased walking speed while maintaining similar step frequency compared to unconstrained walking. These adaptations resulted in the preservation of equal MoS between trials, despite the disturbing influence of the gait adaptability task. When the gait adaptability task was combined with the balance perturbation subjects further decreased step length, as evidenced by a significant interaction between both manipulations (p=0.012). In conclusion, able-bodied people reduce step length and increase step width during walking conditions requiring a high level of both stability and adaptability. Although an increase in step frequency has previously been found to enhance stability, a faster movement, which would coincide with a higher step frequency, hampers accuracy and may consequently limit gait adaptability.

  14. Adaptive Control Techniques for Large Space Structures.

    DTIC Science & Technology

    1986-09-15

    Adaptive Systems: A Ji . Fixed-Point Analysis", submitted, IEEE Trans. on Circuits and Systems; Special Issue on Adaptive Systems, Sept. 1987. I.M.Y...Shaped Cost Functionals: Extensions of LQG Methods," *.. AIAA J. of Guidance and Control, pp. 529-535, Nov-Dec. 1980. [81 C.A. Desoer , R.W. Liu, J. Murray...for Parameter Conver- gence in Adaptive Control," Memo No. UCB/ERL M84/25, Univ. of California, Berke- ley, 1984. [19] C.A. Desoer and M. Vidyasagar

  15. Adaptive Control for Microgravity Vibration Isolation System

    NASA Technical Reports Server (NTRS)

    Yang, Bong-Jun; Calise, Anthony J.; Craig, James I.; Whorton, Mark S.

    2005-01-01

    Most active vibration isolation systems that try to a provide quiescent acceleration environment for space science experiments have utilized linear design methods. In this paper, we address adaptive control augmentation of an existing classical controller that employs a high-gain acceleration feedback together with a low-gain position feedback to center the isolated platform. The control design feature includes parametric and dynamic uncertainties because the hardware of the isolation system is built as a payload-level isolator, and the acceleration Sensor exhibits a significant bias. A neural network is incorporated to adaptively compensate for the system uncertainties, and a high-pass filter is introduced to mitigate the effect of the measurement bias. Simulations show that the adaptive control improves the performance of the existing acceleration controller and keep the level of the isolated platform deviation to that of the existing control system.

  16. An Optimal Control Modification to Model-Reference Adaptive Control for Fast Adaptation

    NASA Technical Reports Server (NTRS)

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

    2008-01-01

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

  17. Adaptive mesh strategies for the spectral element method

    NASA Technical Reports Server (NTRS)

    Mavriplis, Catherine

    1992-01-01

    An adaptive spectral method was developed for the efficient solution of time dependent partial differential equations. Adaptive mesh strategies that include resolution refinement and coarsening by three different methods are illustrated on solutions to the 1-D viscous Burger equation and the 2-D Navier-Stokes equations for driven flow in a cavity. Sharp gradients, singularities, and regions of poor resolution are resolved optimally as they develop in time using error estimators which indicate the choice of refinement to be used. The adaptive formulation presents significant increases in efficiency, flexibility, and general capabilities for high order spectral methods.

  18. Intelligent Engine Systems: Adaptive Control

    NASA Technical Reports Server (NTRS)

    Gibson, Nathan

    2008-01-01

    We have studied the application of the baseline Model Predictive Control (MPC) algorithm to the control of main fuel flow rate (WF36), variable bleed valve (AE24) and variable stator vane (STP25) control of a simulated high-bypass turbofan engine. Using reference trajectories for thrust and turbine inlet temperature (T41) generated by a simulated new engine, we have examined MPC for tracking these two reference outputs while controlling a deteriorated engine. We have examined the results of MPC control for six different transients: two idle-to-takeoff transients at sea level static (SLS) conditions, one takeoff-to-idle transient at SLS, a Bode power command and reverse Bode power command at 20,000 ft/Mach 0.5, and a reverse Bode transient at 35,000 ft/Mach 0.84. For all cases, our primary focus was on the computational effort required by MPC for varying MPC update rates, control horizons, and prediction horizons. We have also considered the effects of these MPC parameters on the performance of the control, with special emphasis on the thrust tracking error, the peak T41, and the sizes of violations of the constraints on the problem, primarily the booster stall margin limit, which for most cases is the lone constraint that is violated with any frequency.

  19. Adapting global influenza management strategies to address emerging viruses.

    PubMed

    Noah, Diana L; Noah, James W

    2013-07-15

    Death by respiratory complications from influenza infections continues to be a major global health concern. Antiviral drugs are widely available for therapy and prophylaxis, but viral mutations have resulted in resistance that threatens to reduce the long-term utility of approved antivirals. Vaccination is the best method for controlling influenza, but vaccine strategies are blunted by virus antigenic drift and shift. Genetic shift in particular has led to four pandemics in the last century, which have prompted the development of efficient global surveillance and vaccination programs. Although the influenza pandemic of 2009 emphasized the need for the rapid standardization of global surveillance methods and the preparation and dissemination of global assay standards for improved reporting and diagnostic tools, outbreaks of novel influenza strains continue to occur, and current efforts must be enhanced by aggressive public education programs to promote increased vaccination rates in the global population. Recently, a novel H7N9 avian influenza virus with potential to become a pandemic strain emerged in China and was transmitted from animals to humans with a demonstrated >20% mortality rate. Sporadic outbreaks of highly lethal avian virus strains have already increased public awareness and altered annual vaccine production strategies to prevent the natural adaption of this virus to human-to-human transmission. Additional strategies for combating influenza include advancement of new antivirals for unexploited viral or host cellular targets; novel adjuvants and alternate vaccine delivery systems; and development of universal protein, DNA, or multivalent vaccines designed to increase immune responsiveness and enhance public health response times.

  20. Adaptive Inner-Loop Rover Control

    NASA Technical Reports Server (NTRS)

    Kulkarni, Nilesh; Ippolito, Corey; Krishnakumar, Kalmanje; Al-Ali, Khalid M.

    2006-01-01

    Adaptive control technology is developed for the inner-loop speed and steering control of the MAX Rover. MAX, a CMU developed rover, is a compact low-cost 4-wheel drive, 4-wheel steer (double Ackerman), high-clearance agile durable chassis, outfitted with sensors and electronics that make it ideally suited for supporting research relevant to intelligent teleoperation and as a low-cost autonomous robotic test bed and appliance. The design consists of a feedback linearization based controller with a proportional - integral (PI) feedback that is augmented by an online adaptive neural network. The adaptation law has guaranteed stability properties for safe operation. The control design is retrofit in nature so that it fits inside the outer-loop path planning algorithms. Successful hardware implementation of the controller is illustrated for several scenarios consisting of actuator failures and modeling errors in the nominal design.

  1. Adaptive isogeometric analysis based on a combined r-h strategy

    NASA Astrophysics Data System (ADS)

    Basappa, Umesh; Rajagopal, Amirtham; Reddy, J. N.

    2016-03-01

    In the present work, an r-h adaptive isogeometric analysis is proposed for plane elasticity problems. For performing the r-adaption, the control net is considered to be a network of springs with the individual spring stiffness values being proportional to the error estimated at the control points. While preserving the boundary control points, relocation of only the interior control points is made by adopting a successive relaxation approach to achieve the equilibrium of spring system. To suit the noninterpolatory nature of the isogeometric approximation, a new point-wise error estimate for the h-refinement is proposed. To evaluate the point-wise error, hierarchical B-spline functions in Sobolev spaces are considered. The proposed adaptive h-refinement strategy is based on using De-Casteljau's algorithm for obtaining the new control points. The subsequent control meshes are thus obtained by using a recursive subdivision of reference control mesh. Such a strategy ensures that the control points lie in the physical domain in subsequent refinements, thus making the physical mesh to exactly interpolate the control mesh and thereby allowing the exact imposition of essential boundary conditions in the classical isogeometric analysis (IGA). The combined r-h adaptive refinement strategy results in better convergence characteristics with reduced errors than r- or h-refinement. Several numerical examples are presented to illustrate the efficiency of the proposed approach.

  2. 78 FR 19514 - National Fish, Wildlife, and Plants Climate Adaptation Strategy

    Federal Register 2010, 2011, 2012, 2013, 2014

    2013-04-01

    ... Fish and Wildlife Service National Fish, Wildlife, and Plants Climate Adaptation Strategy AGENCY: Fish..., Wildlife, and Plants Climate Adaptation Strategy (NFWPCAS or Strategy). The purpose of the Strategy is to... Advisor, Attn: National Fish, Wildlife, and Plants Climate Adaptation Strategy, U.S. Fish and...

  3. Machining Strategy to Adapt Cutting Conditions under Digital Copy Milling Concept

    NASA Astrophysics Data System (ADS)

    Shimada, Takashi; Nakamoto, Keiichi; Shirase, Keiichi

    Most machining tools are controlled by numerical control (NC) programs in order to achieve unmanned machining operations with high precision and improved productivity. However, all the movements of the machining tool are predetermined, and all instructions coded in the NC program are performed sequentially. Therefore, since the cutting process is not adaptable during unmanned machining, the cutting conditions should be set conservatively to avoid cutting difficulties. In this study, machining strategies for adapting the cutting process during a milling operation to avoid tool breakage and to stabilize cutting load have been integrated into an autonomous NC machining tool developed under the Digital Copy Milling (DCM) concept for generating a tool path in real time. In machining strategies, feed speed, radial and axial depths of cut are adapted according to cutting load detected from load cells in the machining table. Successful endmilling experiments verified the effectiveness of the developed machining strategy.

  4. Advanced traffic control strategies for intelligent vehicle highway systems

    NASA Astrophysics Data System (ADS)

    Gartner, Nathan H.; Stamatiadis, C.; Tarnoff, P. J.

    1995-01-01

    This paper discusses traffic signal control strategies that are suitable for advanced traffic management within IVHS (Intelligent Vehicle Highway Systems). The strategies consist of a multi-level design for the real-time, traffic-adaptive control of the urban signal network system. Each control level has different response characteristics, with the more advanced levels incorporating in a nested fashion the capabilities of the lower levels. A principal goal of the new multi-level design is to invoke a selected control strategy when it can provide the greatest benefit.

  5. Direct adaptive impedance control of manipulators

    NASA Technical Reports Server (NTRS)

    Colbaugh, R.; Seraji, H.; Glass, K.

    1991-01-01

    An adaptive scheme for controlling the end-effector impedance of robot manipulators is presented. The proposed control system consists of three subsystems: a simple filter which characterizes the desired dynamic relationship between the end-effector position error and the end-effector/environment contact force, an adaptive controller which produces the Cartesian-space control input required to provide this desired dynamic relationship, and an algorithm for mapping the Cartesian-space control input to a physically realizable joint-space control torque. The controller does not require knowledge of either the structure or the parameter values of the robot dynamics, and it is implemented without calculation of the robot inverse kinematic transformation. As a result, the scheme represents a very general and computationally efficient approach to controlling the impedance of both nonredundant and redundant manipulators. Furthermore, the method can be applied directly to trajectory tracking in free-space motion by removing the impedance filter.

  6. Language control in bilinguals: The adaptive control hypothesis.

    PubMed

    Green, David W; Abutalebi, Jubin

    2013-08-01

    Speech comprehension and production are governed by control processes. We explore their nature and dynamics in bilingual speakers with a focus on speech production. Prior research indicates that individuals increase cognitive control in order to achieve a desired goal. In the adaptive control hypothesis we propose a stronger hypothesis: Language control processes themselves adapt to the recurrent demands placed on them by the interactional context. Adapting a control process means changing a parameter or parameters about the way it works (its neural capacity or efficiency) or the way it works in concert, or in cascade, with other control processes (e.g., its connectedness). We distinguish eight control processes (goal maintenance, conflict monitoring, interference suppression, salient cue detection, selective response inhibition, task disengagement, task engagement, opportunistic planning). We consider the demands on these processes imposed by three interactional contexts (single language, dual language, and dense code-switching). We predict adaptive changes in the neural regions and circuits associated with specific control processes. A dual-language context, for example, is predicted to lead to the adaptation of a circuit mediating a cascade of control processes that circumvents a control dilemma. Effective test of the adaptive control hypothesis requires behavioural and neuroimaging work that assesses language control in a range of tasks within the same individual.

  7. Language control in bilinguals: The adaptive control hypothesis

    PubMed Central

    Abutalebi, Jubin

    2013-01-01

    Speech comprehension and production are governed by control processes. We explore their nature and dynamics in bilingual speakers with a focus on speech production. Prior research indicates that individuals increase cognitive control in order to achieve a desired goal. In the adaptive control hypothesis we propose a stronger hypothesis: Language control processes themselves adapt to the recurrent demands placed on them by the interactional context. Adapting a control process means changing a parameter or parameters about the way it works (its neural capacity or efficiency) or the way it works in concert, or in cascade, with other control processes (e.g., its connectedness). We distinguish eight control processes (goal maintenance, conflict monitoring, interference suppression, salient cue detection, selective response inhibition, task disengagement, task engagement, opportunistic planning). We consider the demands on these processes imposed by three interactional contexts (single language, dual language, and dense code-switching). We predict adaptive changes in the neural regions and circuits associated with specific control processes. A dual-language context, for example, is predicted to lead to the adaptation of a circuit mediating a cascade of control processes that circumvents a control dilemma. Effective test of the adaptive control hypothesis requires behavioural and neuroimaging work that assesses language control in a range of tasks within the same individual. PMID:25077013

  8. Maritime Adaptive Optics Beam Control

    DTIC Science & Technology

    2010-09-01

    can employ enclosures, silencers, or mass-spring- damper systems, active noise control employs secondary sources, usually electronic, to produce a...a Fourier filter in the form of an iris or aperture stop is placed in the beam to select either the +1 or -1 diffractive order to propagate through

  9. Adapting Strategies of Effective Instruction for Culturally Diverse Preschoolers

    ERIC Educational Resources Information Center

    Yamauchi, Lois A.; Im, Seongah; Schonleber, Nanette S.

    2012-01-01

    This article describes collaboration between preschool and university educators focused on adapting the Center for Research on Education, Diversity, and Excellence (CREDE) standards for Effective Pedagogy for use in early childhood (EC) settings. The CREDE standards are strategies of best practices for culturally diverse K-12 students. Teachers…

  10. An adaptive pattern based nonlinear PID controller.

    PubMed

    Segovia, Juan Pablo; Sbarbaro, Daniel; Ceballos, Eric

    2004-04-01

    This paper presents a nonlinear proportional-integral-derivative (PID) controller, combining a pattern based adaptive algorithm to cope with the problem of tuning the controller, and an associative memory to store the parameters, according to different operating conditions. The simplicity of the algorithm enables its implementation in current programmable logic controller technology. Several real-time experiments, carried out in a pressurized tank, illustrate the performance of the proposed controller.

  11. Adaptive mesh refinement strategies in isogeometric analysis— A computational comparison

    NASA Astrophysics Data System (ADS)

    Hennig, Paul; Kästner, Markus; Morgenstern, Philipp; Peterseim, Daniel

    2017-04-01

    We explain four variants of an adaptive finite element method with cubic splines and compare their performance in simple elliptic model problems. The methods in comparison are Truncated Hierarchical B-splines with two different refinement strategies, T-splines with the refinement strategy introduced by Scott et al. in 2012, and T-splines with an alternative refinement strategy introduced by some of the authors. In four examples, including singular and non-singular problems of linear elasticity and the Poisson problem, the H1-errors of the discrete solutions, the number of degrees of freedom as well as sparsity patterns and condition numbers of the discretized problem are compared.

  12. Adaptive Modal Identification for Flutter Suppression Control

    NASA Technical Reports Server (NTRS)

    Nguyen, Nhan T.; Drew, Michael; Swei, Sean S.

    2016-01-01

    In this paper, we will develop an adaptive modal identification method for identifying the frequencies and damping of a flutter mode based on model-reference adaptive control (MRAC) and least-squares methods. The least-squares parameter estimation will achieve parameter convergence in the presence of persistent excitation whereas the MRAC parameter estimation does not guarantee parameter convergence. Two adaptive flutter suppression control approaches are developed: one based on MRAC and the other based on the least-squares method. The MRAC flutter suppression control is designed as an integral part of the parameter estimation where the feedback signal is used to estimate the modal information. On the other hand, the separation principle of control and estimation is applied to the least-squares method. The least-squares modal identification is used to perform parameter estimation.

  13. Adaptive Control Of Large Vibrating, Rotating Structures

    NASA Technical Reports Server (NTRS)

    Bayard, David S.

    1991-01-01

    Globally convergent theoretical method provides for adaptive set-point control of orientation of, along with suppression of the vibrations of, large structure. Method utilizes inherent passivity properties of structure to attain mathematical condition essential to adaptive convergence on commanded set point. Maintains stability and convergence in presence of errors in mathematical model of dynamics of structure and actuators. Developed for controlling attitudes of large, somewhat flexible spacecraft, also useful in such terrestrial applications as controlling movable bridges or suppressing earthquake vibrations in bridges, buildings, and other large structures.

  14. The importance of training strategy adaptation: a learner-oriented approach for improving older adults' memory and transfer.

    PubMed

    Bottiroli, Sara; Cavallini, Elena; Dunlosky, John; Vecchi, Tomaso; Hertzog, Christopher

    2013-09-01

    We investigated the benefits of strategy-adaptation training for promoting transfer effects. This learner-oriented approach--which directly encourages the learner to generalize strategic behavior to new tasks--helps older adults appraise new tasks and adapt trained strategies to them. In Experiment 1, older adults in a strategy-adaptation training group used 2 strategies (imagery and sentence generation) while practicing 2 tasks (list and associative learning); they were then instructed on how to do a simple task analysis to help them adapt the trained strategies for 2 different unpracticed tasks (place learning and text learning) that were discussed during training. Two additional criterion tasks (name-face associative learning and grocery-list learning) were never mentioned during training. Two other groups were included: A strategy training group (who received strategy training and transfer instructions but not strategy-adaptation training) and a waiting-list control group. Both training procedures enhanced older adults' performance on the trained tasks and those tasks that were discussed during training, but transfer was greatest after strategy-adaptation training. Experiment 2 found that strategy-adaptation training conducted via a manual that older adults used at home also promoted transfer. These findings demonstrate the importance of adopting a learner-oriented approach to promote transfer of strategy training.

  15. Dual adaptive control: Design principles and applications

    NASA Technical Reports Server (NTRS)

    Mookerjee, Purusottam

    1988-01-01

    The design of an actively adaptive dual controller based on an approximation of the stochastic dynamic programming equation for a multi-step horizon is presented. A dual controller that can enhance identification of the system while controlling it at the same time is derived for multi-dimensional problems. This dual controller uses sensitivity functions of the expected future cost with respect to the parameter uncertainties. A passively adaptive cautious controller and the actively adaptive dual controller are examined. In many instances, the cautious controller is seen to turn off while the latter avoids the turn-off of the control and the slow convergence of the parameter estimates, characteristic of the cautious controller. The algorithms have been applied to a multi-variable static model which represents a simplified linear version of the relationship between the vibration output and the higher harmonic control input for a helicopter. Monte Carlo comparisons based on parametric and nonparametric statistical analysis indicate the superiority of the dual controller over the baseline controller.

  16. Adaptive Neural Network Controller for ATM Traffic

    DTIC Science & Technology

    1996-12-01

    IEEE Communications Magazine (October 1995). 2. Baum, Eric B...Adaptive Control in ATM Networks," IEEE Communications Magazine (October 1995). 9. Evanowsky, John B. "Information for the Warrior," IEEE Communications Magazine (October...Network Applications in ATM," IEEE Communications Magazine (October 1995). 78 16. Imrich, et al. "A counter based congestion control for ATM

  17. Multiprocessor Adaptive Control Of A Dynamic System

    NASA Technical Reports Server (NTRS)

    Juang, Jer-Nan; Hyland, David C.

    1995-01-01

    Architecture for fully autonomous digital electronic control system developed for use in identification and adaptive control of dynamic system. Architecture modular and hierarchical. Combines relatively simple, standardized processing units into complex parallel-processing subsystems. Although architecture based on neural-network concept, processing units themselves not neural networks; processing units implemented by programming of currently available microprocessors.

  18. Adaptive Process Control in Rubber Industry.

    PubMed

    Brause, Rüdiger W; Pietruschka, Ulf

    1998-01-01

    This paper describes the problems and an adaptive solution for process control in rubber industry. We show that the human and economical benefits of an adaptive solution for the approximation of process parameters are very attractive. The modeling of the industrial problem is done by the means of artificial neural networks. For the example of the extrusion of a rubber profile in tire production our method shows good resuits even using only a few training samples.

  19. Adaptive control design for hysteretic smart systems

    NASA Astrophysics Data System (ADS)

    Fan, Xiang; Smith, Ralph C.

    2009-03-01

    Ferroelectric and ferromagnetic actuators are being considered for a range of industrial, aerospace, aeronautic and biomedical applications due to their unique transduction capabilities. However, they also exhibit hysteretic and nonlinear behavior that must be accommodated in models and control designs. If uncompensated, these effects can yield reduced system performance and, in the worst case, can produce unpredictable behavior of the control system. One technique for control design is to approximately linearize the actuator dynamics using an adaptive inverse compensator that is also able to accommodate model uncertainties and error introduced by the inverse algorithm. This paper describes the design of an adaptive inverse control technique based on the homogenized energy model for hysteresis. The resulting inverse filter is incorporated in an L1 control theory to provide a robust control algorithm capable of providing high speed, high accuracy tracking in the presence of actuator hysteresis and nonlinearities. Properties of the control design are illustrated through numerical examples.

  20. Exposure to Stressful Environments: Strategy of Adaptive Responses

    NASA Technical Reports Server (NTRS)

    Farhi, Leon E.

    1991-01-01

    Any new natural environment may generate a number of stresses (such as hypoxia, water lack, and heat exposure), each of which can produce strains in more than a single organ system. Every strain may in turn stimulate the body to adapt in multiple ways. Nevertheless, a general strategy of the various adaptive responses emerges when the challenges are divided into three groups. The first category includes conditions that affect the supply of essential molecules, while the second is made up by those stresses that prevent the body from regulating properly the output of waste products, such as CO2 and heat. In both classes, there is a small number of responses, similar in principle, regardless of the specific situation. The third unit is created by environments that disrupt body transport systems. Problems may arise when there is a conflict between two stresses requiring conflicting adaptive changes. An alternative to adaptation, creation of micro-environment, is often favored by the animal.

  1. Assessment of the effectiveness of flood adaptation strategies for HCMC

    NASA Astrophysics Data System (ADS)

    Lasage, R.; Veldkamp, T. I. E.; de Moel, H.; Van, T. C.; Phi, H. L.; Vellinga, P.; Aerts, J. C. J. H.

    2014-06-01

    Coastal cities are vulnerable to flooding, and flood risk to coastal cities will increase due to sea-level rise. Moreover, Asian cities in particular are subject to considerable population growth and associated urban developments, increasing this risk even more. Empirical data on vulnerability and the cost and benefits of flood risk reduction measures are therefore paramount for sustainable development of these cities. This paper presents an approach to explore the impacts of sea-level rise and socio-economic developments on flood risk for the flood-prone District 4 in Ho Chi Minh City, Vietnam, and to develop and evaluate the effects of different adaptation strategies (new levees, dry- and wet proofing of buildings and elevating roads and buildings). A flood damage model was developed to simulate current and future flood risk using the results from a household survey to establish stage-damage curves for residential buildings. The model has been used to assess the effects of several participatory developed adaptation strategies to reduce flood risk, expressed in expected annual damage (EAD). Adaptation strategies were evaluated assuming combinations of both sea-level scenarios and land-use scenarios. Together with information on costs of these strategies, we calculated the benefit-cost ratio and net present value for the adaptation strategies until 2100, taking into account depreciation rates of 2.5% and 5%. The results of this modelling study indicate that the current flood risk in District 4 is USD 0.31 million per year, increasing up to USD 0.78 million per year in 2100. The net present value and benefit-cost ratios using a discount rate of 5 % range from USD -107 to -1.5 million, and from 0.086 to 0.796 for the different strategies. Using a discount rate of 2.5% leads to an increase in both net present value and benefit-cost ratio. The adaptation strategies wet-proofing and dry-proofing generate the best results using these economic indicators. The information

  2. Adaptive impedance control of a robotic orthosis for gait rehabilitation.

    PubMed

    Hussain, Shahid; Xie, Sheng Q; Jamwal, Prashant K

    2013-06-01

    Intervention of robotic devices in the field of physical gait therapy can help in providing repetitive, systematic, and economically viable training sessions. Interactive or assist-as-needed (AAN) gait training encourages patient voluntary participation in the robotic gait training process which may aid in rapid motor function recovery. In this paper, a lightweight robotic gait training orthosis with two actuated and four passive degrees of freedom (DOFs) is proposed. The actuated DOFs were powered by pneumatic muscle actuators. An AAN gait training paradigm based on adaptive impedance control was developed to provide interactive robotic gait training. The proposed adaptive impedance control scheme adapts the robotic assistance according to the disability level and voluntary participation of human subjects. The robotic orthosis was operated in two gait training modes, namely, inactive mode and active mode, to evaluate the performance of the proposed control scheme. The adaptive impedance control scheme was evaluated on ten neurologically intact subjects. The experimental results demonstrate that an increase in voluntary participation of human subjects resulted in a decrease of the robotic assistance and vice versa. Further clinical evaluations with neurologically impaired subjects are required to establish the therapeutic efficacy of the adaptive-impedance-control-based AAN gait training strategy.

  3. Adaptive neural control of aeroelastic response

    NASA Astrophysics Data System (ADS)

    Lichtenwalner, Peter F.; Little, Gerald R.; Scott, Robert C.

    1996-05-01

    The Adaptive Neural Control of Aeroelastic Response (ANCAR) program is a joint research and development effort conducted by McDonnell Douglas Aerospace (MDA) and the National Aeronautics and Space Administration, Langley Research Center (NASA LaRC) under a Memorandum of Agreement (MOA). The purpose of the MOA is to cooperatively develop the smart structure technologies necessary for alleviating undesirable vibration and aeroelastic response associated with highly flexible structures. Adaptive control can reduce aeroelastic response associated with buffet and atmospheric turbulence, it can increase flutter margins, and it may be able to reduce response associated with nonlinear phenomenon like limit cycle oscillations. By reducing vibration levels and loads, aircraft structures can have lower acquisition cost, reduced maintenance, and extended lifetimes. Phase I of the ANCAR program involved development and demonstration of a neural network-based semi-adaptive flutter suppression system which used a neural network for scheduling control laws as a function of Mach number and dynamic pressure. This controller was tested along with a robust fixed-gain control law in NASA's Transonic Dynamics Tunnel (TDT) utilizing the Benchmark Active Controls Testing (BACT) wing. During Phase II, a fully adaptive on-line learning neural network control system has been developed for flutter suppression which will be tested in 1996. This paper presents the results of Phase I testing as well as the development progress of Phase II.

  4. Robust Adaptive Control of Hypnosis During Anesthesia

    DTIC Science & Technology

    2007-11-02

    1 of 4 ROBUST ADAPTIVE CONTROL OF HYPNOSIS DURING ANESTHESIA Pascal Grieder1, Andrea Gentilini1, Manfred Morari1, Thomas W. Schnider2 1ETH Zentrum...A closed-loop controller for hypnosis was designed and validated on humans at our laboratory. The controller aims at regulat- ing the Bispectral Index...BIS) - a surro- gate measure of hypnosis derived from the electroencephalogram of the patient - with the volatile anesthetic isoflurane administered

  5. Robust, Practical Adaptive Control for Launch Vehicles

    NASA Technical Reports Server (NTRS)

    Orr, Jeb. S.; VanZwieten, Tannen S.

    2012-01-01

    A modern mechanization of a classical adaptive control concept is presented with an application to launch vehicle attitude control systems. Due to a rigorous flight certification environment, many adaptive control concepts are infeasible when applied to high-risk aerospace systems; methods of stability analysis are either intractable for high complexity models or cannot be reconciled in light of classical requirements. Furthermore, many adaptive techniques appearing in the literature are not suitable for application to conditionally stable systems with complex flexible-body dynamics, as is often the case with launch vehicles. The present technique is a multiplicative forward loop gain adaptive law similar to that used for the NASA X-15 flight research vehicle. In digital implementation with several novel features, it is well-suited to application on aerodynamically unstable launch vehicles with thrust vector control via augmentation of the baseline attitude/attitude-rate feedback control scheme. The approach is compatible with standard design features of autopilots for launch vehicles, including phase stabilization of lateral bending and slosh via linear filters. In addition, the method of assessing flight control stability via classical gain and phase margins is not affected under reasonable assumptions. The algorithm s ability to recover from certain unstable operating regimes can in fact be understood in terms of frequency-domain criteria. Finally, simulation results are presented that confirm the ability of the algorithm to improve performance and robustness in realistic failure scenarios.

  6. Adaptive control of an unmanned aerial vehicle

    NASA Astrophysics Data System (ADS)

    Nguen, V. F.; Putov, A. V.; Nguen, T. T.

    2017-01-01

    The paper deals with design and comparison of adaptive control systems based on plant state vector and output for unmanned aerial vehicle (UAV) with nonlinearity and uncertainty of parameters of the aircraft incomplete measurability of its state and presence of wind disturbances. The results of computer simulations of flight stabilization processes on the example of the experimental model UAV-70V (Aerospace Academy, Hanoi) with presence of periodic and non-periodic vertical wind disturbances with designed adaptive control systems based on plant state vector with state observer and plant output.

  7. Hardware verification of distributed/adaptive control

    NASA Technical Reports Server (NTRS)

    Eldred, D. B.; Schaechter, D. B.

    1983-01-01

    Adaptive control techniques are studied for their future application to the control of large space structures, where uncertain or changing parameters may destabilize standard control system designs. The approach used is to examine an extended Kalman filter estimator, in which the state vector is augmented with the unknown parameters. The associated Riccatti equation is linearized about the case of exact knowledge of the parameters. By assuming that parameter variations occur slowly, the filter complexity is reduced further yet. Simulations on a two degree-of-freedom oscillator demonstrate the parameter-tracking capability of the filter, and an implementation on the JPL Flexible Beam Facility using an incorrect model shows the adaptive filter/optimal control to be stable where a standard Kalman filter/optimal control design is unstable.

  8. Evolving Systems and Adaptive Key Component Control

    NASA Technical Reports Server (NTRS)

    Frost, Susan A.; Balas, Mark J.

    2009-01-01

    We propose a new framework called Evolving Systems to describe the self-assembly, or autonomous assembly, of actively controlled dynamical subsystems into an Evolved System with a higher purpose. An introduction to Evolving Systems and exploration of the essential topics of the control and stability properties of Evolving Systems is provided. This chapter defines a framework for Evolving Systems, develops theory and control solutions for fundamental characteristics of Evolving Systems, and provides illustrative examples of Evolving Systems and their control with adaptive key component controllers.

  9. Bounded Linear Stability Margin Analysis of Nonlinear Hybrid Adaptive Control

    NASA Technical Reports Server (NTRS)

    Nguyen, Nhan T.; Boskovic, Jovan D.

    2008-01-01

    This paper presents a bounded linear stability analysis for a hybrid adaptive control that blends both direct and indirect adaptive control. Stability and convergence of nonlinear adaptive control are analyzed using an approximate linear equivalent system. A stability margin analysis shows that a large adaptive gain can lead to a reduced phase margin. This method can enable metrics-driven adaptive control whereby the adaptive gain is adjusted to meet stability margin requirements.

  10. Adaptive mechanism-based congestion control for networked systems

    NASA Astrophysics Data System (ADS)

    Liu, Zhi; Zhang, Yun; Chen, C. L. Philip

    2013-03-01

    In order to assure the communication quality in network systems with heavy traffic and limited bandwidth, a new ATRED (adaptive thresholds random early detection) congestion control algorithm is proposed for the congestion avoidance and resource management of network systems. Different to the traditional AQM (active queue management) algorithms, the control parameters of ATRED are not configured statically, but dynamically adjusted by the adaptive mechanism. By integrating with the adaptive strategy, ATRED alleviates the tuning difficulty of RED (random early detection) and shows a better control on the queue management, and achieve a more robust performance than RED under varying network conditions. Furthermore, a dynamic transmission control protocol-AQM control system using ATRED controller is introduced for the systematic analysis. It is proved that the stability of the network system can be guaranteed when the adaptive mechanism is finely designed. Simulation studies show the proposed ATRED algorithm achieves a good performance in varying network environments, which is superior to the RED and Gentle-RED algorithm, and providing more reliable service under varying network conditions.

  11. Malaria control strategies in French armed forces.

    PubMed

    Migliani, R; Pradines, B; Michel, R; Aoun, O; Dia, A; Deparis, X; Rapp, C

    2014-01-01

    Each year, 40,000 French soldiers deploy or travel through malaria-endemic areas. Despite the effective control measures that were successively implemented, malaria remains a public health concern in French armed forces with several important outbreaks and one lethal case every two years. This article describes the malaria control strategy in French armed forces which is based on three combined strategies: i) Anopheles vector control to prevent infection with the implementation of personal protection against vectors (PPAV) adapted to the field living conditions of the troops. ii) Chemoprophylaxis (CP) to prevent the disease based on prescription of effective and well tolerated doxycycline. iii) Management of cases through early diagnosis and appropriate treatment to prevent death. In isolated conditions in endemic areas, rapid diagnosis tests (RDT) are used as first-line tests by military doctors. Treatment of uncomplicated Plasmodium falciparum (P. falciparum) malaria is based either on the piperaquine tetraphosphate-dihydroartemisinin association since 2013, or on the atovaquone-proguanil association. First-line treatment of severe P. falciparum malaria is based on IV artesunate. These measures are associated with constant education of the military, epidemiological surveillance of malaria cases and monitoring of parasite chemosensitivity.

  12. Variable Neural Adaptive Robust Control: A Switched System Approach

    SciTech Connect

    Lian, Jianming; Hu, Jianghai; Zak, Stanislaw H.

    2015-05-01

    Variable neural adaptive robust control strategies are proposed for the output tracking control of a class of multi-input multi-output uncertain systems. The controllers incorporate a variable-structure radial basis function (RBF) network as the self-organizing approximator for unknown system dynamics. The variable-structure RBF network solves the problem of structure determination associated with fixed-structure RBF networks. It can determine the network structure on-line dynamically by adding or removing radial basis functions according to the tracking performance. The structure variation is taken into account in the stability analysis of the closed-loop system using a switched system approach with the aid of the piecewise quadratic Lyapunov function. The performance of the proposed variable neural adaptive robust controllers is illustrated with simulations.

  13. 40 CFR 52.07 - Control strategies.

    Code of Federal Regulations, 2012 CFR

    2012-07-01

    ... 40 Protection of Environment 3 2012-07-01 2012-07-01 false Control strategies. 52.07 Section 52.07... PROMULGATION OF IMPLEMENTATION PLANS General Provisions § 52.07 Control strategies. (a) Each subpart specifies in what respects the control strategies are approved or disapproved. Where emission limitations...

  14. 40 CFR 52.07 - Control strategies.

    Code of Federal Regulations, 2011 CFR

    2011-07-01

    ... 40 Protection of Environment 3 2011-07-01 2011-07-01 false Control strategies. 52.07 Section 52.07... PROMULGATION OF IMPLEMENTATION PLANS General Provisions § 52.07 Control strategies. (a) Each subpart specifies in what respects the control strategies are approved or disapproved. Where emission limitations...

  15. 40 CFR 52.07 - Control strategies.

    Code of Federal Regulations, 2013 CFR

    2013-07-01

    ... 40 Protection of Environment 3 2013-07-01 2013-07-01 false Control strategies. 52.07 Section 52.07... PROMULGATION OF IMPLEMENTATION PLANS General Provisions § 52.07 Control strategies. (a) Each subpart specifies in what respects the control strategies are approved or disapproved. Where emission limitations...

  16. 40 CFR 52.07 - Control strategies.

    Code of Federal Regulations, 2014 CFR

    2014-07-01

    ... 40 Protection of Environment 3 2014-07-01 2014-07-01 false Control strategies. 52.07 Section 52.07... PROMULGATION OF IMPLEMENTATION PLANS General Provisions § 52.07 Control strategies. (a) Each subpart specifies in what respects the control strategies are approved or disapproved. Where emission limitations...

  17. 40 CFR 52.07 - Control strategies.

    Code of Federal Regulations, 2010 CFR

    2010-07-01

    ... 40 Protection of Environment 3 2010-07-01 2010-07-01 false Control strategies. 52.07 Section 52.07... PROMULGATION OF IMPLEMENTATION PLANS General Provisions § 52.07 Control strategies. (a) Each subpart specifies in what respects the control strategies are approved or disapproved. Where emission limitations...

  18. Diversity of immune strategies explained by adaptation to pathogen statistics

    PubMed Central

    Mayer, Andreas; Mora, Thierry; Rivoire, Olivier; Walczak, Aleksandra M.

    2016-01-01

    Biological organisms have evolved a wide range of immune mechanisms to defend themselves against pathogens. Beyond molecular details, these mechanisms differ in how protection is acquired, processed, and passed on to subsequent generations—differences that may be essential to long-term survival. Here, we introduce a mathematical framework to compare the long-term adaptation of populations as a function of the pathogen dynamics that they experience and of the immune strategy that they adopt. We find that the two key determinants of an optimal immune strategy are the frequency and the characteristic timescale of the pathogens. Depending on these two parameters, our framework identifies distinct modes of immunity, including adaptive, innate, bet-hedging, and CRISPR-like immunities, which recapitulate the diversity of natural immune systems. PMID:27432970

  19. Adaptive Control of Nonlinear and Stochastic Systems

    DTIC Science & Technology

    1991-01-14

    Hernmndez-Lerma and S.I. Marcus, Nonparametric adaptive control of dis- crete time partially observable stochastic systems, Journal of Mathematical Analysis and Applications 137... Journal of Mathematical Analysis and Applications 137 (1989), 485-514. [19] A. Arapostathis and S.I. Marcus, Analysis of an identification algorithm

  20. Adaptive control system for gas producing wells

    SciTech Connect

    Fedor, Pashchenko; Sergey, Gulyaev; Alexander, Pashchenko

    2015-03-10

    Optimal adaptive automatic control system for gas producing wells cluster is proposed intended for solving the problem of stabilization of the output gas pressure in the cluster at conditions of changing gas flow rate and changing parameters of the wells themselves, providing the maximum high resource of hardware elements of automation.

  1. Adaptive fuzzy-neural-network control for maglev transportation system.

    PubMed

    Wai, Rong-Jong; Lee, Jeng-Dao

    2008-01-01

    A magnetic-levitation (maglev) transportation system including levitation and propulsion control is a subject of considerable scientific interest because of highly nonlinear and unstable behaviors. In this paper, the dynamic model of a maglev transportation system including levitated electromagnets and a propulsive linear induction motor (LIM) based on the concepts of mechanical geometry and motion dynamics is developed first. Then, a model-based sliding-mode control (SMC) strategy is introduced. In order to alleviate chattering phenomena caused by the inappropriate selection of uncertainty bound, a simple bound estimation algorithm is embedded in the SMC strategy to form an adaptive sliding-mode control (ASMC) scheme. However, this estimation algorithm is always a positive value so that tracking errors introduced by any uncertainty will cause the estimated bound increase even to infinity with time. Therefore, it further designs an adaptive fuzzy-neural-network control (AFNNC) scheme by imitating the SMC strategy for the maglev transportation system. In the model-free AFNNC, online learning algorithms are designed to cope with the problem of chattering phenomena caused by the sign action in SMC design, and to ensure the stability of the controlled system without the requirement of auxiliary compensated controllers despite the existence of uncertainties. The outputs of the AFNNC scheme can be directly supplied to the electromagnets and LIM without complicated control transformations for relaxing strict constrains in conventional model-based control methodologies. The effectiveness of the proposed control schemes for the maglev transportation system is verified by numerical simulations, and the superiority of the AFNNC scheme is indicated in comparison with the SMC and ASMC strategies.

  2. Adaptive Control of Nonlinear Flexible Systems

    DTIC Science & Technology

    1993-01-18

    disturbances. The following example illustrates the need for a robust state-feedback law and the sensi- tivity of the exact - linearization based control law... exact linearization , one can bring an input-output approach to a particular case of certainty- equivalence based adaptive control design. We now...are available for this model, exact linearization can be performed. Let C(s) be the compensator that is being used so far in the previous three

  3. Climate change impacts and adaptive strategies: lessons from the grapevine.

    PubMed

    Mosedale, Jonathan R; Abernethy, Kirsten E; Smart, Richard E; Wilson, Robert J; Maclean, Ilya M D

    2016-11-01

    The cultivation of grapevines for winemaking, known as viticulture, is widely cited as a climate-sensitive agricultural system that has been used as an indicator of both historic and contemporary climate change. Numerous studies have questioned the viability of major viticulture regions under future climate projections. We review the methods used to study the impacts of climate change on viticulture in the light of what is known about the effects of climate and weather on the yields and quality of vineyard harvests. Many potential impacts of climate change on viticulture, particularly those associated with a change in climate variability or seasonal weather patterns, are rarely captured. Key biophysical characteristics of viticulture are often unaccounted for, including the variability of grapevine phenology and the exploitation of microclimatic niches that permit successful cultivation under suboptimal macroclimatic conditions. We consider how these same biophysical characteristics permit a variety of strategies by which viticulture can adapt to changing climatic conditions. The ability to realize these strategies, however, is affected by uneven exposure to risks across the winemaking sector, and the evolving capacity for decision-making within and across organizational boundaries. The role grape provenance plays in shaping perceptions of wine value and quality illustrates how conflicts of interest influence decisions about adaptive strategies within the industry. We conclude by considering what lessons can be taken from viticulture for studies of climate change impacts and the capacity for adaptation in other agricultural and natural systems.

  4. Adaptive strategies to climate change in Southern Malawi

    NASA Astrophysics Data System (ADS)

    Chidanti-Malunga, J.

    Climate change poses a big challenge to rural livelihoods in the Shire Valley area of Southern Malawi, where communities have depended almost entirely on rain-fed agriculture for generations. The Shire Valley area comprises of low-altitude dambo areas and uplands which have been the main agricultural areas. Since early to mid 1980s, the uplands have experienced prolonged droughts and poor rainfall distribution, while the dambos have experienced recurrent seasonal floods. This study assessed some of the adaptive strategies exercised by small-scale rural farmers in response to climate change in the Shire Valley. The methodology used in collecting information includes group discussions, household surveys in the area, secondary data, and field observations. The results show that small-scale rural farmers exercise a number of adaptive strategies in response to climate change. These adaptive strategies include: increased use of water resources for small-scale irrigation or wetland farming, mostly using simple delivery techniques; increased management of residual moisture; and increased alternative sources of income such as fishing and crop diversity. It was also observed that government promoted the use of portable motorized pumps for small-scale irrigation in order to mitigate the effects of climate change. However, these external interventions were not fully adopted; instead the farmers preferred local interventions which mostly had indigenous elements.

  5. The Effects of the Locus of CAI Control Strategies on the Learning of Mathematics Rules.

    ERIC Educational Resources Information Center

    Goetzfried, Leslie; Hannafin, Michael J.

    1985-01-01

    Effects of the locus of computer assisted instruction (CAI) strategies on low achievers' learning accuracy and efficiency were studied. Externally controlled adaptive, individually based learner control with advisement, and linear control design strategies were used. Effects were examined for CAI strategy, prior achievement, and sex of student.…

  6. Adaptive Variable Bias Magnetic Bearing Control

    NASA Technical Reports Server (NTRS)

    Johnson, Dexter; Brown, Gerald V.; Inman, Daniel J.

    1998-01-01

    Most magnetic bearing control schemes use a bias current with a superimposed control current to linearize the relationship between the control current and the force it delivers. With the existence of the bias current, even in no load conditions, there is always some power consumption. In aerospace applications, power consumption becomes an important concern. In response to this concern, an alternative magnetic bearing control method, called Adaptive Variable Bias Control (AVBC), has been developed and its performance examined. The AVBC operates primarily as a proportional-derivative controller with a relatively slow, bias current dependent, time-varying gain. The AVBC is shown to reduce electrical power loss, be nominally stable, and provide control performance similar to conventional bias control. Analytical, computer simulation, and experimental results are presented in this paper.

  7. Geometry control in prestressed adaptive space trusses

    NASA Astrophysics Data System (ADS)

    Sener, Murat; Utku, Senol; Wada, Ben K.

    1993-04-01

    In this work the actuator placement problem for the precision control in prestressed adaptive space trusses is studied. These structures cannot be statically determinate, implying that the length-adjusting actuators have to work against the existing prestressing forces, and also against the stresses caused by the actuation. This type of difficulties does not exist in statically determinate adaptive trusses where, except for overcoming the friction, the actuators operate under zero axial force, and require almost no energy. The actuator placement problem in statically inderterminate trusses is, therefore, governed seriously by the energy and the strength requirements. The paper provides various methodologies for the actuator placement problem in prestressed space trusses.

  8. Stochastic Adaptive Control and Estimation Enhancement

    DTIC Science & Technology

    1990-02-01

    ilM(k-S)1.izt-) (p. 1 and then the time after which the jump n’-* ’𔃻 takes place (i.e.. the sojourn time) is chosen 11 flp~ij) gil "’(n s~i,.k 39...Asilmar ant. pp 61-5. 184.Control or High Performance Aircraft using Adaptive ( Gil N.H. Ghalson and R.L. Moose. "Maneuverirng Target Aerstim ati nd...N It Dec. 1988. [ Gil N.H. Gholson and R.L. Moose, "Maneuveringl1(k.1) Is known, thus Target Tracking Using Adaptive State Estimation.- IEEE

  9. Public authority control strategy for opinion evolution in social networks

    NASA Astrophysics Data System (ADS)

    Chen, Xi; Xiong, Xi; Zhang, Minghong; Li, Wei

    2016-08-01

    This paper addresses the need to deal with and control public opinion and rumors. Existing strategies to control public opinion include degree, random, and adaptive bridge control strategies. In this paper, we use the HK model to present a public opinion control strategy based on public authority (PA). This means utilizing the influence of expert or high authority individuals whose opinions we control to obtain the optimum effect in the shortest time possible and thus reach a consensus of public opinion. Public authority (PA) is only influenced by individuals' attributes (age, economic status, and education level) and not their degree distribution; hence, in this paper, we assume that PA complies with two types of public authority distribution (normal and power-law). According to the proposed control strategy, our experiment is based on random, degree, and public authority control strategies in three different social networks (small-world, scale-free, and random) and we compare and analyze the strategies in terms of convergence time (T), final number of controlled agents (C), and comprehensive efficiency (E). We find that different network topologies and the distribution of the PA in the network can influence the final controlling effect. While the effect of PA strategy differs in different network topology structures, all structures achieve comprehensive efficiency with any kind of public authority distribution in any network. Our findings are consistent with several current sociological phenomena and show that in the process of public opinion/rumor control, considerable attention should be paid to high authority individuals.

  10. Adaptive control of Space Station with control moment gyros

    NASA Technical Reports Server (NTRS)

    Bishop, Robert H.; Paynter, Scott J.; Sunkel, John W.

    1992-01-01

    An adaptive approach to Space Station attitude control is investigated. The main components of the controller are the parameter identification scheme, the control gain calculation, and the control law. The control law is a full-state feedback space station baseline control law. The control gain calculation is based on linear-quadratic regulator theory with eigenvalues placement in a vertical strip. The parameter identification scheme is a recursive extended Kalman filter that estimates the inertias and also provides an estimate of the unmodeled disturbances due to the aerodynamic torques and to the nonlinear effects. An analysis of the inertia estimation problem suggests that it is possible to estimate Space Station inertias accurately during nominal control moment gyro operations. The closed-loop adaptive control law is shown to be capable of stabilizing the Space Station after large inertia changes. Results are presented for the pitch axis.

  11. Readapting the adaptive immune response - therapeutic strategies for atherosclerosis.

    PubMed

    Sage, Andrew P; Mallat, Ziad

    2017-01-04

    Cardiovascular diseases remain a major global health issue, with the development of atherosclerosis as a major underlying cause. Our treatment of cardiovascular disease has improved greatly over the past three decades, but much remains to be done reduce disease burden. Current priorities include reducing atherosclerosis advancement to clinically significant stages and preventing plaque rupture or erosion. Inflammation and involvement of the adaptive immune system influences all these aspects and therefore is one focus for future therapeutic development. The atherosclerotic vascular wall is now recognized to be invaded from both sides (arterial lumen and adventitia), for better or worse, by the adaptive immune system. Atherosclerosis is also affected at several stages by adaptive immune responses, overall providing many opportunities to target these responses and to reduce disease progression. Protective influences that may be defective in diseased individuals include humoral responses to modified LDL and regulatory T cell responses. There are many strategies in development to boost these pathways in humans, including vaccine-based therapies. The effects of various existing adaptive immune targeting therapies, such as blocking critical co-stimulatory pathways or B cell depletion, on cardiovascular disease are beginning to emerge with important consequences for both autoimmune disease patients and the potential for wider use of such therapies. Entering the translation phase for adaptive immune targeting therapies is an exciting and promising prospect.

  12. Decentralized adaptive control of robot manipulators with robust stabilization design

    NASA Technical Reports Server (NTRS)

    Yuan, Bau-San; Book, Wayne J.

    1988-01-01

    Due to geometric nonlinearities and complex dynamics, a decentralized technique for adaptive control for multilink robot arms is attractive. Lyapunov-function theory for stability analysis provides an approach to robust stabilization. Each joint of the arm is treated as a component subsystem. The adaptive controller is made locally stable with servo signals including proportional and integral gains. This results in the bound on the dynamical interactions with other subsystems. A nonlinear controller which stabilizes the system with uniform boundedness is used to improve the robustness properties of the overall system. As a result, the robot tracks the reference trajectories with convergence. This strategy makes computation simple and therefore facilitates real-time implementation.

  13. A reduced energy supply strategy in active vibration control

    NASA Astrophysics Data System (ADS)

    Ichchou, M. N.; Loukil, T.; Bareille, O.; Chamberland, G.; Qiu, J.

    2011-12-01

    In this paper, a control strategy is presented and numerically tested. This strategy aims to achieve the potential performance of fully active systems with a reduced energy supply. These energy needs are expected to be comparable to the power demands of semi-active systems, while system performance is intended to be comparable to that of a fully active configuration. The underlying strategy is called 'global semi-active control'. This control approach results from an energy investigation based on management of the optimal control process. Energy management encompasses storage and convenient restitution. The proposed strategy monitors a given active law without any external energy supply by considering purely dissipative and energy-demanding phases. Such a control law is offered here along with an analysis of its properties. A suboptimal form, well adapted for practical implementation steps, is also given. Moreover, a number of numerical experiments are proposed in order to validate test findings.

  14. Managing Work and Family: Do Control Strategies Help?

    ERIC Educational Resources Information Center

    Versey, H. Shellae

    2015-01-01

    How can we effectively manage competing obligations from work and family without becoming overwhelmed? This question inspires the current study by examining control strategies that may facilitate better work-life balance, with a specific focus on the role of lowered aspirations and positive reappraisals, attitudes that underlie adaptive coping…

  15. Function-valued adaptive dynamics and optimal control theory.

    PubMed

    Parvinen, Kalle; Heino, Mikko; Dieckmann, Ulf

    2013-09-01

    In this article we further develop the theory of adaptive dynamics of function-valued traits. Previous work has concentrated on models for which invasion fitness can be written as an integral in which the integrand for each argument value is a function of the strategy value at that argument value only. For this type of models of direct effect, singular strategies can be found using the calculus of variations, with singular strategies needing to satisfy Euler's equation with environmental feedback. In a broader, more mechanistically oriented class of models, the function-valued strategy affects a process described by differential equations, and fitness can be expressed as an integral in which the integrand for each argument value depends both on the strategy and on process variables at that argument value. In general, the calculus of variations cannot help analyzing this much broader class of models. Here we explain how to find singular strategies in this class of process-mediated models using optimal control theory. In particular, we show that singular strategies need to satisfy Pontryagin's maximum principle with environmental feedback. We demonstrate the utility of this approach by studying the evolution of strategies determining seasonal flowering schedules.

  16. Paradoxical cardiovascular effects of implementing adaptive emotion regulation strategies in generalized anxiety disorder.

    PubMed

    Aldao, Amelia; Mennin, Douglas S

    2012-02-01

    Recent models of generalized anxiety disorder (GAD) have expanded on Borkovec's avoidance theory by delineating emotion regulation deficits associated with the excessive worry characteristic of this disorder (see Behar, DiMarco, Hekler, Mohlman, & Staples, 2009). However, it has been difficult to determine whether emotion regulation is simply a useful heuristic for the avoidant properties of worry or an important extension to conceptualizations of GAD. Some of this difficulty may arise from a focus on purported maladaptive regulation strategies, which may be confounded with symptomatic distress components of the disorder (such as worry). We examined the implementation of adaptive regulation strategies by participants with and without a diagnosis of GAD while watching emotion-eliciting film clips. In a between-subjects design, participants were randomly assigned to accept, reappraise, or were not given specific regulation instructions. Implementation of adaptive regulation strategies produced differential effects in the physiological (but not subjective) domain across diagnostic groups. Whereas participants with GAD demonstrated lower cardiac flexibility when implementing adaptive regulation strategies than when not given specific instructions on how to regulate, healthy controls showed the opposite pattern, suggesting they benefited from the use of adaptive regulation strategies. We discuss the implications of these findings for the delineation of emotion regulation deficits in psychopathology.

  17. Multi-vehicle target selection for adaptive cruise control

    NASA Astrophysics Data System (ADS)

    Moon, Seungwuk; Kang, Hyoung-Jin; Yi, Kyongsu

    2010-11-01

    This paper presents a target selection strategy for adaptive cruise control (ACC) in multiple vehicle traffic situations. Since there are many vehicles in a real road and various transitions between the subject vehicle and the neighbouring vehicles occurred, it is important to establish a target selection and a control strategy for applying the ACC system to multiple vehicle traffic scenes in order to improve the driver acceptance and the vehicle safety. For this purpose, it is necessary to determine which neighbouring vehicle is an important target for the adaptive cruise control and prevention of collision depending on a driving situation. A primary target selection algorithm decides an in-lane target and provides the information to a longitudinal controller in order to drive a subject vehicle smoothly and to ensure safety in multi-vehicle traffic situations. The proposed selection algorithm consists of an in-lane target detection, a motion-based analysis and an integration process. The performance and safety benefits of a multi-vehicle ACC system with proposed target selection strategy are investigated via simulations using several driving scenarios. Simulation results show that the system response is smooth and safe even in multiple vehicle driving situations.

  18. Improvement of Adaptive Cruise Control Performance

    NASA Astrophysics Data System (ADS)

    Miyata, Shigeharu; Nakagami, Takashi; Kobayashi, Sei; Izumi, Tomoji; Naito, Hisayoshi; Yanou, Akira; Nakamura, Hitomi; Takehara, Shin

    2010-12-01

    This paper describes the Adaptive Cruise Control system (ACC), a system which reduces the driving burden on the driver. The ACC system primarily supports four driving modes on the road and controls the acceleration and deceleration of the vehicle in order to maintain a set speed or to avoid a crash. This paper proposes more accurate methods of detecting the preceding vehicle by radar while cornering, with consideration for the vehicle sideslip angle, and also of controlling the distance between vehicles. By making full use of the proposed identification logic for preceding vehicles and path estimation logic, an improvement in driving stability was achieved.

  19. An adaptive learning control system for aircraft

    NASA Technical Reports Server (NTRS)

    Mekel, R.; Nachmias, S.

    1976-01-01

    A learning control system is developed which blends the gain scheduling and adaptive control into a single learning system that has the advantages of both. An important feature of the developed learning control system is its capability to adjust the gain schedule in a prescribed manner to account for changing aircraft operating characteristics. Furthermore, if tests performed by the criteria of the learning system preclude any possible change in the gain schedule, then the overall system becomes an ordinary gain scheduling system. Examples are discussed.

  20. Adaptive wing and flow control technology

    NASA Astrophysics Data System (ADS)

    Stanewsky, E.

    2001-10-01

    The development of the boundary layer and the interaction of the boundary layer with the outer “inviscid” flow field, exacerbated at high speed by the occurrence of shock waves, essentially determine the performance boundaries of high-speed flight. Furthermore, flight and freestream conditions may change considerably during an aircraft mission while the aircraft itself is only designed for multiple but fixed design points thus impairing overall performance. Consequently, flow and boundary layer control and adaptive wing technology may have revolutionary new benefits for take-off, landing and cruise operating conditions for many aircraft by enabling real-time effective geometry optimization relative to the flight conditions. In this paper we will consider various conventional and novel means of boundary layer and flow control applied to moderate-to-large aspect ratio wings, delta wings and bodies with the specific objectives of drag reduction, lift enhancement, separation suppression and the improvement of air-vehicle control effectiveness. In addition, adaptive wing concepts of varying complexity and corresponding aerodynamic performance gains will be discussed, also giving some examples of possible structural realizations. Furthermore, penalties associated with the implementation of control and adaptation mechanisms into actual aircraft will be addressed. Note that the present contribution is rather application oriented.

  1. F-8C adaptive flight control laws

    NASA Technical Reports Server (NTRS)

    Hartmann, G. L.; Harvey, C. A.; Stein, G.; Carlson, D. N.; Hendrick, R. C.

    1977-01-01

    Three candidate digital adaptive control laws were designed for NASA's F-8C digital flyby wire aircraft. Each design used the same control laws but adjusted the gains with a different adaptative algorithm. The three adaptive concepts were: high-gain limit cycle, Liapunov-stable model tracking, and maximum likelihood estimation. Sensors were restricted to conventional inertial instruments (rate gyros and accelerometers) without use of air-data measurements. Performance, growth potential, and computer requirements were used as criteria for selecting the most promising of these candidates for further refinement. The maximum likelihood concept was selected primarily because it offers the greatest potential for identifying several aircraft parameters and hence for improved control performance in future aircraft application. In terms of identification and gain adjustment accuracy, the MLE design is slightly superior to the other two, but this has no significant effects on the control performance achievable with the F-8C aircraft. The maximum likelihood design is recommended for flight test, and several refinements to that design are proposed.

  2. Geometric view of adaptive optics control

    NASA Astrophysics Data System (ADS)

    Wiberg, Donald M.; Max, Claire E.; Gavel, Donald T.

    2005-05-01

    The objective of an astronomical adaptive optics control system is to minimize the residual wave-front error remaining on the science-object wave fronts after being compensated for atmospheric turbulence and telescope aberrations. Minimizing the mean square wave-front residual maximizes the Strehl ratio and the encircled energy in pointlike images and maximizes the contrast and resolution of extended images. We prove the separation principle of optimal control for application to adaptive optics so as to minimize the mean square wave-front residual. This shows that the residual wave-front error attributable to the control system can be decomposed into three independent terms that can be treated separately in design. The first term depends on the geometry of the wave-front sensor(s), the second term depends on the geometry of the deformable mirror(s), and the third term is a stochastic term that depends on the signal-to-noise ratio. The geometric view comes from understanding that the underlying quantity of interest, the wave-front phase surface, is really an infinite-dimensional vector within a Hilbert space and that this vector space is projected into subspaces we can control and measure by the deformable mirrors and wave-front sensors, respectively. When the control and estimation algorithms are optimal, the residual wave front is in a subspace that is the union of subspaces orthogonal to both of these projections. The method is general in that it applies both to conventional (on-axis, ground-layer conjugate) adaptive optics architectures and to more complicated multi-guide-star- and multiconjugate-layer architectures envisaged for future giant telescopes. We illustrate the approach by using a simple example that has been worked out previously [J. Opt. Soc. Am. A73, 1171 (1983)] for a single-conjugate, static atmosphere case and follow up with a discussion of how it is extendable to general adaptive optics architectures.

  3. Adaptive impedance control of redundant manipulators

    NASA Technical Reports Server (NTRS)

    Colbaugh, R.; Glass, K.; Seraji, H.

    1990-01-01

    A scheme for controlling the mechanical impedance of the end-effector of a kinematically redundant manipulator is presented. The proposed control system consists of two subsystems: an adaptive impedance controller which generates the Cartesian-space control input F (is a member of Rm) required to provide the desired end-effector impedance characteristics, and an algorithm that maps this control input to the joint torque T (is a member of Rn). The F to T map is constructed so that the robot redundancy is utilized to improve either the kinematic or dynamic performance of the robot. The impedance controller does not require knowledge of the complex robot dynamic model or parameter values for the robot, the payload, or the environment, and is implemented without calculation of the robot inverse kinematic transformation. As a result, the scheme is very general and is computationally efficient for on-line implementation.

  4. Model reference adaptive control of robots

    NASA Technical Reports Server (NTRS)

    Steinvorth, Rodrigo

    1991-01-01

    This project presents the results of controlling two types of robots using new Command Generator Tracker (CGT) based Direct Model Reference Adaptive Control (MRAC) algorithms. Two mathematical models were used to represent a single-link, flexible joint arm and a Unimation PUMA 560 arm; and these were then controlled in simulation using different MRAC algorithms. Special attention was given to the performance of the algorithms in the presence of sudden changes in the robot load. Previously used CGT based MRAC algorithms had several problems. The original algorithm that was developed guaranteed asymptotic stability only for almost strictly positive real (ASPR) plants. This condition is very restrictive, since most systems do not satisfy this assumption. Further developments to the algorithm led to an expansion of the number of plants that could be controlled, however, a steady state error was introduced in the response. These problems led to the introduction of some modifications to the algorithms so that they would be able to control a wider class of plants and at the same time would asymptotically track the reference model. This project presents the development of two algorithms that achieve the desired results and simulates the control of the two robots mentioned before. The results of the simulations are satisfactory and show that the problems stated above have been corrected in the new algorithms. In addition, the responses obtained show that the adaptively controlled processes are resistant to sudden changes in the load.

  5. Adaptation of enzymes to temperature: searching for basic "strategies".

    PubMed

    Somero, George N

    2004-11-01

    The pervasive influence of temperature on biological systems necessitates a suite of temperature--compensatory adaptations that span all levels of biological organization--from behavior to fine-scale molecular structure. Beginning about 50 years ago, physiological studies conducted with whole organisms or isolated tissues, by such pioneers of comparative thermal physiology as V.Ya. Alexandrov, T.H. Bullock, F.E.J. Fry, H. Precht, C.L. Prosser, and P.F. Scholander, began to document in detail the abilities of ectothermic animals to sustain relatively similar rates of metabolic activity at widely different temperatures of adaptation or acclimation. These studies naturally led to investigation of the roles played by enzymatic proteins in metabolic temperature compensation. Peter Hochachka's laboratory became an epicenter of this new focus in comparative physiology. The studies of the enzyme lactate dehydrogenase (LDH) that he initiated as a PhD student at Duke University in the mid-1960s and continued for several years at the University of British Columbia laid much of the foundation for subsequent studies of protein adaptation to temperature. Studies of orthologs of LDH have revealed the importance of conserving kinetic properties (catalytic rate constants (kcat) and Michaelis-Menten constants (Km) and structural stability during adaptation to temperature, and recently have identified the types of amino acid substitutions causing this adaptive variation. The roles of pH and low-molecular-mass organic solutes (osmolytes) in conserving the functional and structural properties of enzymes also have been elucidated using LDH. These studies, begun in Peter Hochachka's laboratory almost 40 years ago, have been instrumental in the development of a conceptual framework for the study of biochemical adaptation, a field whose origin can be traced largely to his creative influences. This framework emphasizes the complementary roles of three "strategies" of adaptation: (1) changes

  6. Block adaptive rate controlled image data compression

    NASA Technical Reports Server (NTRS)

    Rice, R. F.; Hilbert, E.; Lee, J.-J.; Schlutsmeyer, A.

    1979-01-01

    A block adaptive rate controlled (BARC) image data compression algorithm is described. It is noted that in the algorithm's principal rate controlled mode, image lines can be coded at selected rates by combining practical universal noiseless coding techniques with block adaptive adjustments in linear quantization. Compression of any source data at chosen rates of 3.0 bits/sample and above can be expected to yield visual image quality with imperceptible degradation. Exact reconstruction will be obtained if the one-dimensional difference entropy is below the selected compression rate. It is noted that the compressor can also be operated as a floating rate noiseless coder by simply not altering the input data quantization. Here, the universal noiseless coder ensures that the code rate is always close to the entropy. Application of BARC image data compression to the Galileo orbiter mission of Jupiter is considered.

  7. Adaptive Control with Reference Model Modification

    NASA Technical Reports Server (NTRS)

    Stepanyan, Vahram; Krishnakumar, Kalmanje

    2012-01-01

    This paper presents a modification of the conventional model reference adaptive control (MRAC) architecture in order to improve transient performance of the input and output signals of uncertain systems. A simple modification of the reference model is proposed by feeding back the tracking error signal. It is shown that the proposed approach guarantees tracking of the given reference command and the reference control signal (one that would be designed if the system were known) not only asymptotically but also in transient. Moreover, it prevents generation of high frequency oscillations, which are unavoidable in conventional MRAC systems for large adaptation rates. The provided design guideline makes it possible to track a reference commands of any magnitude from any initial position without re-tuning. The benefits of the method are demonstrated with a simulation example

  8. Adaptive control based on retrospective cost optimization

    NASA Technical Reports Server (NTRS)

    Santillo, Mario A. (Inventor); Bernstein, Dennis S. (Inventor)

    2012-01-01

    A discrete-time adaptive control law for stabilization, command following, and disturbance rejection that is effective for systems that are unstable, MIMO, and/or nonminimum phase. The adaptive control algorithm includes guidelines concerning the modeling information needed for implementation. This information includes the relative degree, the first nonzero Markov parameter, and the nonminimum-phase zeros. Except when the plant has nonminimum-phase zeros whose absolute value is less than the plant's spectral radius, the required zero information can be approximated by a sufficient number of Markov parameters. No additional information about the poles or zeros need be known. Numerical examples are presented to illustrate the algorithm's effectiveness in handling systems with errors in the required modeling data, unknown latency, sensor noise, and saturation.

  9. Adaptive Control Techniques for Large Space Structures

    DTIC Science & Technology

    1987-12-23

    2500 Mizssion. CoV~ege Boulevard Sar-ta Clara, Califorr-Iia 950541-1215 P--epared for: AFOSR, O irectcorate of Aerospace Sciences Bolling Air Force...formulated in late 1982 in re- sponse to the increasing concern that performance robustness of Air Force LSS type system would be inadequate to meet...Reducing the effects of on-board disturbance rejection) is particularly important for planned Air Force missions. For these cases, adaptive control

  10. Applications of Neural Networks to Adaptive Control

    DTIC Science & Technology

    1989-12-01

    DTIC ;- E py 00 NAVAL POSTGRADUATE SCHOOL Monterey, California I.$ RDTIC IELECTE fl THESIS BEG7V°U APPLICATIONS OF NEURAL NETWORKS TO ADAPTIVE CONTROL...Second keader E . Robert Wood, Chairman, Department of Aeronautics and Astronautics Gordoii E . Schacher, Dean of Faculty and Graduate Education ii ABSTRACT...23: Network Dynamic Stability for q(t) . ............................. 55 ix Figure 24: Network Dynamic Stability for e (t

  11. Climate change adaptation strategies for resource management and conservation planning.

    PubMed

    Lawler, Joshua J

    2009-04-01

    Recent rapid changes in the Earth's climate have altered ecological systems around the globe. Global warming has been linked to changes in physiology, phenology, species distributions, interspecific interactions, and disturbance regimes. Projected future climate change will undoubtedly result in even more dramatic shifts in the states of many ecosystems. These shifts will provide one of the largest challenges to natural resource managers and conservation planners. Managing natural resources and ecosystems in the face of uncertain climate requires new approaches. Here, the many adaptation strategies that have been proposed for managing natural systems in a changing climate are reviewed. Most of the recommended approaches are general principles and many are tools that managers are already using. What is new is a turning toward a more agile management perspective. To address climate change, managers will need to act over different spatial and temporal scales. The focus of restoration will need to shift from historic species assemblages to potential future ecosystem services. Active adaptive management based on potential future climate impact scenarios will need to be a part of everyday operations. And triage will likely become a critical option. Although many concepts and tools for addressing climate change have been proposed, key pieces of information are still missing. To successfully manage for climate change, a better understanding will be needed of which species and systems will likely be most affected by climate change, how to preserve and enhance the evolutionary capacity of species, how to implement effective adaptive management in new systems, and perhaps most importantly, in which situations and systems will the general adaptation strategies that have been proposed work and how can they be effectively applied.

  12. Strategies of Adaptation: A Soviet Enterprise Under Perestroika and Privatization

    DTIC Science & Technology

    1991-06-01

    the early 1970’s (see Il’in, 1973; Gorlin , 1976), we have referred to it as an enterprise throughout this paper. Strateaies of Adaptation 5 convinced...fact, some refer to it as "Shop 1." "See Il’in (1973) and Gorlin (1976) for a discussion of the policy of consolidating enterprises into production...34edineniia. ( Gorlin , 1976; Il’in, 1973) This was encouraged by the state but it also complemented the enterprise strategy of increasing bargaining power

  13. Adaptive strategy for multi-user robotic rehabilitation games.

    PubMed

    Caurin, Glauco A P; Siqueira, Adriano A G; Andrade, Kleber O; Joaquim, Ricardo C; Krebs, Hermano I

    2011-01-01

    In this paper, we discuss a strategy for the adaptation of the "difficulty level" in games intended to include motor planning during robotic rehabilitation. We consider concurrently the motivation of the user and his/her performance in a Pong game. User motivation is classified in three levels (not motivated, well motivated and overloaded). User performance is measured as a combination of knowledge of results--achieved goals and score points in the game--and knowledge of performance--joint displacement, speed, aiming, user work, etc. Initial results of a pilot test with unimpaired healthy young volunteers are also presented showing a tendency for individualization of the parameter values.

  14. 76 FR 30193 - National Fish, Wildlife, and Plants Climate Adaptation Strategy; Notice of Intent: Request for...

    Federal Register 2010, 2011, 2012, 2013, 2014

    2011-05-24

    ... Fish and Wildlife Service National Fish, Wildlife, and Plants Climate Adaptation Strategy; Notice of... National Fish, Wildlife, and Plants Climate Adaptation Strategy (Strategy). The Strategy will provide a... ensure that we are able to consider your comments and information as we develop our draft...

  15. Adaptive Test Schemes for Control of Paratuberculosis in Dairy Cows

    PubMed Central

    Græsbøll, Kaare; Nielsen, Søren Saxmose; Christiansen, Lasse Engbo; Toft, Nils; Halasa, Tariq

    2016-01-01

    Paratuberculosis is a chronic infection that in dairy cattle causes reduced milk yield, weight loss, and ultimately fatal diarrhea. Subclinical animals can excrete bacteria (Mycobacterium avium ssp. paratuberculosis, MAP) in feces and infect other animals. Farmers identify the infectious animals through a variety of test-strategies, but are challenged by the lack of perfect tests. Frequent testing increases the sensitivity but the costs of testing are a cause of concern for farmers. Here, we used a herd simulation model using milk ELISA tests to evaluate the epidemiological and economic consequences of continuously adapting the sampling interval in response to the estimated true prevalence in the herd. The key results were that the true prevalence was greatly affected by the hygiene level and to some extent by the test-frequency. Furthermore, the choice of prevalence that will be tolerated in a control scenario had a major impact on the true prevalence in the normal hygiene setting, but less so when the hygiene was poor. The net revenue is not greatly affected by the test-strategy, because of the general variation in net revenues between farms. An exception to this is the low hygiene herd, where frequent testing results in lower revenue. When we look at the probability of eradication, then it is correlated with the testing frequency and the target prevalence during the control phase. The probability of eradication is low in the low hygiene herd, and a test-and-cull strategy should probably not be the primary strategy in this herd. Based on this study we suggest that, in order to control MAP, the standard Danish dairy farm should use an adaptive strategy where a short sampling interval of three months is used when the estimated true prevalence is above 1%, and otherwise use a long sampling interval of one year. PMID:27907192

  16. Genetic Adaptive Control for PZT Actuators

    NASA Technical Reports Server (NTRS)

    Kim, Jeongwook; Stover, Shelley K.; Madisetti, Vijay K.

    1995-01-01

    A piezoelectric transducer (PZT) is capable of providing linear motion if controlled correctly and could provide a replacement for traditional heavy and large servo systems using motors. This paper focuses on a genetic model reference adaptive control technique (GMRAC) for a PZT which is moving a mirror where the goal is to keep the mirror velocity constant. Genetic Algorithms (GAs) are an integral part of the GMRAC technique acting as the search engine for an optimal PID controller. Two methods are suggested to control the actuator in this research. The first one is to change the PID parameters and the other is to add an additional reference input in the system. The simulation results of these two methods are compared. Simulated Annealing (SA) is also used to solve the problem. Simulation results of GAs and SA are compared after simulation. GAs show the best result according to the simulation results. The entire model is designed using the Mathworks' Simulink tool.

  17. Neural Control Adaptation to Motor Noise Manipulation

    PubMed Central

    Hasson, Christopher J.; Gelina, Olga; Woo, Garrett

    2016-01-01

    Antagonistic muscular co-activation can compensate for movement variability induced by motor noise at the expense of increased energetic costs. Greater antagonistic co-activation is commonly observed in older adults, which could be an adaptation to increased motor noise. The present study tested this hypothesis by manipulating motor noise in 12 young subjects while they practiced a goal-directed task using a myoelectric virtual arm, which was controlled by their biceps and triceps muscle activity. Motor noise was increased by increasing the coefficient of variation (CV) of the myoelectric signals. As hypothesized, subjects adapted by increasing antagonistic co-activation, and this was associated with reduced noise-induced performance decrements. A second hypothesis was that a virtual decrease in motor noise, achieved by smoothing the myoelectric signals, would have the opposite effect: co-activation would decrease and motor performance would improve. However, the results showed that a decrease in noise made performance worse instead of better, with no change in co-activation. Overall, these findings suggest that the nervous system adapts to virtual increases in motor noise by increasing antagonistic co-activation, and this preserves motor performance. Reducing noise may have failed to benefit performance due to characteristics of the filtering process itself, e.g., delays are introduced and muscle activity bursts are attenuated. The observed adaptations to increased noise may explain in part why older adults and many patient populations have greater antagonistic co-activation, which could represent an adaptation to increased motor noise, along with a desire for increased joint stability. PMID:26973487

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

    PubMed

    Najjar-Khodabakhsh, Abbas; Soltani, Jafar

    2016-03-01

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

  19. Simple adaptive control system design for a quadrotor with an internal PFC

    SciTech Connect

    Mizumoto, Ikuro; Nakamura, Takuto; Kumon, Makoto; Takagi, Taro

    2014-12-10

    The paper deals with an adaptive control system design problem for a four rotor helicopter or quadrotor. A simple adaptive control design scheme with a parallel feedforward compensator (PFC) in the internal loop of the considered quadrotor will be proposed based on the backstepping strategy. As is well known, the backstepping control strategy is one of the advanced control strategy for nonlinear systems. However, the control algorithm will become complex if the system has higher order relative degrees. We will show that one can skip some design steps of the backstepping method by introducing a PFC in the inner loop of the considered quadrotor, so that the structure of the obtained controller will be simplified and a high gain based adaptive feedback control system will be designed. The effectiveness of the proposed method will be confirmed through numerical simulations.

  20. Nonlinear adaptive PID control for greenhouse environment based on RBF network.

    PubMed

    Zeng, Songwei; Hu, Haigen; Xu, Lihong; Li, Guanghui

    2012-01-01

    This paper presents a hybrid control strategy, combining Radial Basis Function (RBF) network with conventional proportional, integral, and derivative (PID) controllers, for the greenhouse climate control. A model of nonlinear conservation laws of enthalpy and matter between numerous system variables affecting the greenhouse climate is formulated. RBF network is used to tune and identify all PID gain parameters online and adaptively. The presented Neuro-PID control scheme is validated through simulations of set-point tracking and disturbance rejection. We compare the proposed adaptive online tuning method with the offline tuning scheme that employs Genetic Algorithm (GA) to search the optimal gain parameters. The results show that the proposed strategy has good adaptability, strong robustness and real-time performance while achieving satisfactory control performance for the complex and nonlinear greenhouse climate control system, and it may provide a valuable reference to formulate environmental control strategies for actual application in greenhouse production.

  1. Adaptive control of force microscope cantilever dynamics

    NASA Astrophysics Data System (ADS)

    Jensen, S. E.; Dougherty, W. M.; Garbini, J. L.; Sidles, J. A.

    2007-09-01

    Magnetic resonance force microscopy (MRFM) and other emerging scanning probe microscopies entail the detection of attonewton-scale forces. Requisite force sensitivities are achieved through the use of soft force microscope cantilevers as high resonant-Q micromechanical oscillators. In practice, the dynamics of these oscillators are greatly improved by the application of force feedback control computed in real time by a digital signal processor (DSP). Improvements include increased sensitive bandwidth, reduced oscillator ring up/down time, and reduced cantilever thermal vibration amplitude. However, when the cantilever tip and the sample are in close proximity, electrostatic and Casimir tip-sample force gradients can significantly alter the cantilever resonance frequency, foiling fixed-gain narrow-band control schemes. We report an improved, adaptive control algorithm that uses a Hilbert transform technique to continuously measure the vibration frequency of the thermally-excited cantilever and seamlessly adjust the DSP program coefficients. The closed-loop vibration amplitude is typically 0.05 nm. This adaptive algorithm enables narrow-band formally-optimal control over a wide range of resonance frequencies, and preserves the thermally-limited signal to noise ratio (SNR).

  2. 2011 National Drug Control Strategy. Executive Summary

    ERIC Educational Resources Information Center

    Office of National Drug Control Policy, 2011

    2011-01-01

    In May of 2010, President Obama released the Administration's inaugural "National Drug Control Strategy", a comprehensive approach to combat the public health and safety consequences posed by drug use. Now, a year later, the Administration is releasing its update building upon that initial "Strategy". The "Strategy" establishes ambitious goals to…

  3. An adaptive learning control system for large flexible structures

    NASA Technical Reports Server (NTRS)

    Thau, F. E.

    1985-01-01

    The objective of the research has been to study the design of adaptive/learning control systems for the control of large flexible structures. In the first activity an adaptive/learning control methodology for flexible space structures was investigated. The approach was based on using a modal model of the flexible structure dynamics and an output-error identification scheme to identify modal parameters. In the second activity, a least-squares identification scheme was proposed for estimating both modal parameters and modal-to-actuator and modal-to-sensor shape functions. The technique was applied to experimental data obtained from the NASA Langley beam experiment. In the third activity, a separable nonlinear least-squares approach was developed for estimating the number of excited modes, shape functions, modal parameters, and modal amplitude and velocity time functions for a flexible structure. In the final research activity, a dual-adaptive control strategy was developed for regulating the modal dynamics and identifying modal parameters of a flexible structure. A min-max approach was used for finding an input to provide modal parameter identification while not exceeding reasonable bounds on modal displacement.

  4. Design of Sequentially Randomized Trials for Testing Adaptive Treatment Strategies

    PubMed Central

    Ogbagaber, Semhar B.; Karp, Jordan; Wahed, Abdus S.

    2016-01-01

    An adaptive treatment strategy (ATS) is an outcome-guided algorithm that allows personalized treatment of complex diseases based on patients’ disease status and treatment history. Conditions such as AIDS, depression, and cancer usually require several stages of treatment due to the chronic, multifactorial nature of illness progression and management. Sequential multiple assignment randomized (SMAR) designs permit simultaneous inference about multiple ATSs, where patients are sequentially randomized to treatments at different stages depending upon response status. The purpose of the article is to develop a sample size formula to ensure adequate power for comparing two or more ATSs. Based on a Wald-type statistic for comparing multiple ATSs with a continuous endpoint, we develop a sample size formula and test it through simulation studies. We show via simulation that the proposed sample size formula maintains the nominal power. The proposed sample size formula is not applicable to designs with time-to-event endpoints but the formula will be useful for practitioners while designing SMAR trials to compare adaptive treatment strategies. PMID:26412033

  5. Adaptive control of a Stewart platform-based manipulator

    NASA Technical Reports Server (NTRS)

    Nguyen, Charles C.; Antrazi, Sami S.; Zhou, Zhen-Lei; Campbell, Charles E., Jr.

    1993-01-01

    A joint-space adaptive control scheme for controlling noncompliant motion of a Stewart platform-based manipulator (SPBM) was implemented in the Hardware Real-Time Emulator at Goddard Space Flight Center. The six-degrees of freedom SPBM uses two platforms and six linear actuators driven by dc motors. The adaptive control scheme is based on proportional-derivative controllers whose gains are adjusted by an adaptation law based on model reference adaptive control and Liapunov direct method. It is concluded that the adaptive control scheme provides superior tracking capability as compared to fixed-gain controllers.

  6. Finite element/finite volume approaches with adaptive time stepping strategies for transient thermal problems

    NASA Technical Reports Server (NTRS)

    Mohan, Ram V.; Tamma, Kumar K.

    1993-01-01

    An adaptive time stepping strategy for transient thermal analysis of engineering systems is described which computes the time step based on the local truncation error with a good global error control and obtains optimal time steps to be used during the analysis. Combined mesh partitionings involving FEM/FVM meshes based on physical situations to obtain numerically improved physical representations are also proposed. Numerical test cases are described and comparative pros and cons are identified for practical situations.

  7. Adaptive Accommodation Control Method for Complex Assembly

    NASA Astrophysics Data System (ADS)

    Kang, Sungchul; Kim, Munsang; Park, Shinsuk

    Robotic systems have been used to automate assembly tasks in manufacturing and in teleoperation. Conventional robotic systems, however, have been ineffective in controlling contact force in multiple contact states of complex assemblythat involves interactions between complex-shaped parts. Unlike robots, humans excel at complex assembly tasks by utilizing their intrinsic impedance, forces and torque sensation, and tactile contact clues. By examining the human behavior in assembling complex parts, this study proposes a novel geometry-independent control method for robotic assembly using adaptive accommodation (or damping) algorithm. Two important conditions for complex assembly, target approachability and bounded contact force, can be met by the proposed control scheme. It generates target approachable motion that leads the object to move closer to a desired target position, while contact force is kept under a predetermined value. Experimental results from complex assembly tests have confirmed the feasibility and applicability of the proposed method.

  8. Adaptive control of space based robot manipulators

    NASA Technical Reports Server (NTRS)

    Walker, Michael W.; Wee, Liang-Boon

    1991-01-01

    For space based robots in which the base is free to move, motion planning and control is complicated by uncertainties in the inertial properties of the manipulator and its load. A new adaptive control method is presented for space based robots which achieves globally stable trajectory tracking in the presence of uncertainties in the inertial parameters of the system. A partition is made of the fifteen degree of freedom system dynamics into two parts: a nine degree of freedom invertible portion and a six degree of freedom noninvertible portion. The controller is then designed to achieve trajectory tracking of the invertible portion of the system. This portion consist of the manipulator joint positions and the orientation of the base. The motion of the noninvertible portion is bounded, but unpredictable. This portion consist of the position of the robot's base and the position of the reaction wheel.

  9. Kalman filter based control for Adaptive Optics

    NASA Astrophysics Data System (ADS)

    Petit, Cyril; Quiros-Pacheco, Fernando; Conan, Jean-Marc; Kulcsár, Caroline; Raynaud, Henri-François; Fusco, Thierry

    2004-12-01

    Classical Adaptive Optics suffer from a limitation of the corrected Field Of View. This drawback has lead to the development of MultiConjugated Adaptive Optics. While the first MCAO experimental set-ups are presently under construction, little attention has been paid to the control loop. This is however a key element in the optimization process especially for MCAO systems. Different approaches have been proposed in recent articles for astronomical applications : simple integrator, Optimized Modal Gain Integrator and Kalman filtering. We study here Kalman filtering which seems a very promising solution. Following the work of Brice Leroux, we focus on a frequential characterization of kalman filters, computing a transfer matrix. The result brings much information about their behaviour and allows comparisons with classical controllers. It also appears that straightforward improvements of the system models can lead to static aberrations and vibrations filtering. Simulation results are proposed and analysed thanks to our frequential characterization. Related problems such as model errors, aliasing effect reduction or experimental implementation and testing of Kalman filter control loop on a simplified MCAO experimental set-up could be then discussed.

  10. Direct adaptive control of partially known nonlinear systems.

    PubMed

    McLain, R B; Henson, M A; Pottmann, M

    1999-01-01

    A direct adaptive control strategy for a class of single-input/single-output nonlinear systems is presented. The major advantage of the proposed method is that a detailed dynamic nonlinear model is not required for controller design. The only information required about the plant is measurements of the state variables, the relative degree, and the sign of a Lie derivative which appears in the associated input-output linearizing control law. Unknown controller functions are approximated using locally supported radial basis functions that are introduced only in regions of the state space where the closed-loop system actually evolves. Lyapunov stability analysis is used to derive parameter update laws which ensure (under certain assumptions) the state vector remains bounded and the plant output asymptotically tracks the output of a linear reference model. The technique is successfully applied to a nonlinear biochemical reactor model.

  11. Adaptive neural networks for mobile robotic control

    NASA Astrophysics Data System (ADS)

    Burnett, Jeff R.; Dagli, Cihan H.

    2001-03-01

    Movement of a differential drive robot has non-linear dependence on the current position and orientation. A controller must be able to deal with the non-linearity of the plant. The controller must either linearize the plant and deal with special cases, or be non-linear itself. Once the controller is designed, implementation on a real robotic platform presents challenges due to the varying parameters of the plant. Robots of the same model may have different motor frictions. The surface the robot maneuvers on may change e.g. carpet to tile. Batteries will drain, providing less power over time. A feed-forward neural network controller could overcome these challenges. The network could learn the non- linearities of the plant and monitor the error for parameter changes and adapt to them. In this manner, a single controller can be designed for an ideal robot, and then used to populate a multi-robot colony without manually fine tuning the controller for each robot. This paper shall demonstrate such a controller, outlining design in simulation and implementation on Khepera robotic platforms.

  12. Alternative adaptive immunity strategies: coelacanth, cod and shark immunity.

    PubMed

    Buonocore, Francesco; Gerdol, Marco

    2016-01-01

    The advent of high throughput sequencing has permitted to investigate the genome and the transcriptome of novel non-model species with unprecedented depth. This technological advance provided a better understanding of the evolution of adaptive immune genes in gnathostomes, revealing several unexpected features in different fish species which are of particular interest. In the present paper, we review the current understanding of the adaptive immune system of the coelacanth, the elephant shark and the Atlantic cod. The study of coelacanth, the only living extant of the long thought to be extinct Sarcopterygian lineage, is fundamental to bring new insights on the evolution of the immune system in higher vertebrates. Surprisingly, coelacanths are the only known jawed vertebrates to lack IgM, whereas two IgD/W loci are present. Cartilaginous fish are of great interest due to their basal position in the vertebrate tree of life; the genome of the elephant shark revealed the lack of several important immune genes related to T cell functions, which suggest the existence of a primordial set of TH1-like cells. Finally, the Atlantic cod lacks a functional major histocompatibility II complex, but balances this evolutionary loss with the expansion of specific gene families, including MHC I, Toll-like receptors and antimicrobial peptides. Overall, these data point out that several fish species present an unconventional adaptive immune system, but the loss of important immune genes is balanced by adaptive evolutionary strategies which still guarantee the establishment of an efficient immune response against the pathogens they have to fight during their life.

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

    DOEpatents

    Goldsmith, Steven Y.

    2004-06-22

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

  14. Adaptive Control Using Residual Mode Filters Applied to Wind Turbines

    NASA Technical Reports Server (NTRS)

    Frost, Susan A.; Balas, Mark J.

    2011-01-01

    Many dynamic systems containing a large number of modes can benefit from adaptive control techniques, which are well suited to applications that have unknown parameters and poorly known operating conditions. In this paper, we focus on a model reference direct adaptive control approach that has been extended to handle adaptive rejection of persistent disturbances. We extend this adaptive control theory to accommodate problematic modal subsystems of a plant that inhibit the adaptive controller by causing the open-loop plant to be non-minimum phase. We will augment the adaptive controller using a Residual Mode Filter (RMF) to compensate for problematic modal subsystems, thereby allowing the system to satisfy the requirements for the adaptive controller to have guaranteed convergence and bounded gains. We apply these theoretical results to design an adaptive collective pitch controller for a high-fidelity simulation of a utility-scale, variable-speed wind turbine that has minimum phase zeros.

  15. National Drug Control Strategy. 2008 Annual Report

    ERIC Educational Resources Information Center

    Office of National Drug Control Policy, 2008

    2008-01-01

    This report presents the 2008 National Drug Control Strategy of the White House Office of National Drug Control Policy. The overarching goal of the President's Strategy is to reduce drug use in America through a balanced approach that focuses on stopping use before it starts, healing America's drug users, and disrupting the market for illegal…

  16. The reduced order model problem in distributed parameter systems adaptive identification and control. [adaptive control of flexible spacecraft

    NASA Technical Reports Server (NTRS)

    Johnson, C. R., Jr.; Lawrence, D. A.

    1981-01-01

    The reduced order model problem in distributed parameter systems adaptive identification and control is investigated. A comprehensive examination of real-time centralized adaptive control options for flexible spacecraft is provided.

  17. Adaptive Control of Flexible Structures Using Residual Mode Filters

    NASA Technical Reports Server (NTRS)

    Balas, Mark J.; Frost, Susan

    2010-01-01

    Flexible structures containing a large number of modes can benefit from adaptive control techniques which are well suited to applications that have unknown modeling parameters and poorly known operating conditions. In this paper, we focus on a direct adaptive control approach that has been extended to handle adaptive rejection of persistent disturbances. We extend our adaptive control theory to accommodate troublesome modal subsystems of a plant that might inhibit the adaptive controller. In some cases the plant does not satisfy the requirements of Almost Strict Positive Realness. Instead, there maybe be a modal subsystem that inhibits this property. This section will present new results for our adaptive control theory. We will modify the adaptive controller with a Residual Mode Filter (RMF) to compensate for the troublesome modal subsystem, or the Q modes. Here we present the theory for adaptive controllers modified by RMFs, with attention to the issue of disturbances propagating through the Q modes. We apply the theoretical results to a flexible structure example to illustrate the behavior with and without the residual mode filter. We have proposed a modified adaptive controller with a residual mode filter. The RMF is used to accommodate troublesome modes in the system that might otherwise inhibit the adaptive controller, in particular the ASPR condition. This new theory accounts for leakage of the disturbance term into the Q modes. A simple three-mode example shows that the RMF can restore stability to an otherwise unstable adaptively controlled system. This is done without modifying the adaptive controller design.

  18. Optimal control of anthracnose using mixed strategies.

    PubMed

    Fotsa Mbogne, David Jaures; Thron, Christopher

    2015-11-01

    In this paper we propose and study a spatial diffusion model for the control of anthracnose disease in a bounded domain. The model is a generalization of the one previously developed in [15]. We use the model to simulate two different types of control strategies against anthracnose disease. Strategies that employ chemical fungicides are modeled using a continuous control function; while strategies that rely on cultivational practices (such as pruning and removal of mummified fruits) are modeled with a control function which is discrete in time (though not in space). For comparative purposes, we perform our analyses for a spatially-averaged model as well as the space-dependent diffusion model. Under weak smoothness conditions on parameters we demonstrate the well-posedness of both models by verifying existence and uniqueness of the solution for the growth inhibition rate for given initial conditions. We also show that the set [0, 1] is positively invariant. We first study control by impulsive strategies, then analyze the simultaneous use of mixed continuous and pulse strategies. In each case we specify a cost functional to be minimized, and we demonstrate the existence of optimal control strategies. In the case of pulse-only strategies, we provide explicit algorithms for finding the optimal control strategies for both the spatially-averaged model and the space-dependent model. We verify the algorithms for both models via simulation, and discuss properties of the optimal solutions.

  19. Adaptive collaborative control of highly redundant robots

    NASA Astrophysics Data System (ADS)

    Handelman, David A.

    2008-04-01

    The agility and adaptability of biological systems are worthwhile goals for next-generation unmanned ground vehicles. Management of the requisite number of degrees of freedom, however, remains a challenge, as does the ability of an operator to transfer behavioral intent from human to robot. This paper reviews American Android research funded by NASA, DARPA, and the U.S. Army that attempts to address these issues. Limb coordination technology, an iterative form of inverse kinematics, provides a fundamental ability to control balance and posture independently in highly redundant systems. Goal positions and orientations of distal points of the robot skeleton, such as the hands and feet of a humanoid robot, become variable constraints, as does center-of-gravity position. Behaviors utilize these goals to synthesize full-body motion. Biped walking, crawling and grasping are illustrated, and behavior parameterization, layering and portability are discussed. Robotic skill acquisition enables a show-and-tell approach to behavior modification. Declarative rules built verbally by an operator in the field define nominal task plans, and neural networks trained with verbal, manual and visual signals provide additional behavior shaping. Anticipated benefits of the resultant adaptive collaborative controller for unmanned ground vehicles include increased robot autonomy, reduced operator workload and reduced operator training and skill requirements.

  20. Wavefront control for extreme adaptive optics

    NASA Astrophysics Data System (ADS)

    Poyneer, Lisa A.; Macintosh, Bruce A.

    2003-12-01

    Current plans for Extreme Adaptive Optics systems place challenging requirements on wave-front control. This paper focuses on control system dynamics, wave-front sensing and wave-front correction device characteristics. It may be necessary to run an ExAO system after a slower, low-order AO system. Running two independent systems can result in very good temporal performance, provided specific design constraints are followed. The spatially-filtered wave-front sensor, which prevents aliasing and improves PSF sensitivity, is summarized. Different models of continuous and segmented deformable mirrors are studied. In a noise-free case, a piston-tip-tilt segmented MEMS device can achieve nearly equivalent performance to a continuous-sheet DM in compensating for a static phase aberration with use of spatial filtering.

  1. Wavefront Control for Extreme Adaptive Optics

    SciTech Connect

    Poyneer, L A

    2003-07-16

    Current plans for Extreme Adaptive Optics systems place challenging requirements on wave-front control. This paper focuses on control system dynamics, wave-front sensing and wave-front correction device characteristics. It may be necessary to run an ExAO system after a slower, low-order AO system. Running two independent systems can result in very good temporal performance, provided specific design constraints are followed. The spatially-filtered wave-front sensor, which prevents aliasing and improves PSF sensitivity, is summarized. Different models of continuous and segmented deformable mirrors are studied. In a noise-free case, a piston-tip-tilt segmented MEMS device can achieve nearly equivalent performance to a continuous-sheet DM in compensating for a static phase aberration with use of spatial filtering.

  2. Robust adaptive neural network control of uncertain nonholonomic systems with strong nonlinear drifts.

    PubMed

    Wang, Z P; Ge, S S; Lee, T H

    2004-10-01

    In this paper, robust adaptive neural network (NN) control is presented to solve the control problem of nonholonomic systems in chained form with unknown virtual control coefficients and strong drift nonlinearities. The robust adaptive NN control laws are developed using state scaling and backstepping. Uniform ultimate boundedness of all the signals in the closed-loop are guaranteed, and the system states are proven to converge to a small neighborhood of zero. The control performance of the closed-loop system is guaranteed by appropriately choosing the design parameters. The proposed adaptive NN control is free of control singularity problem. An adaptive control based switching strategy is used to overcome the uncontrollability problem associated with x0 (t0) = 0. The simulation results demonstrate the effectiveness of the proposed controllers.

  3. 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.

  4. Real-time Adaptive Control Using Neural Generalized Predictive Control

    NASA Technical Reports Server (NTRS)

    Haley, Pam; Soloway, Don; Gold, Brian

    1999-01-01

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

  5. A forward method for optimal stochastic nonlinear and adaptive control

    NASA Technical Reports Server (NTRS)

    Bayard, David S.

    1988-01-01

    A computational approach is taken to solve the optimal nonlinear stochastic control problem. The approach is to systematically solve the stochastic dynamic programming equations forward in time, using a nested stochastic approximation technique. Although computationally intensive, this provides a straightforward numerical solution for this class of problems and provides an alternative to the usual dimensionality problem associated with solving the dynamic programming equations backward in time. It is shown that the cost degrades monotonically as the complexity of the algorithm is reduced. This provides a strategy for suboptimal control with clear performance/computation tradeoffs. A numerical study focusing on a generic optimal stochastic adaptive control example is included to demonstrate the feasibility of the method.

  6. Stress Response and Perinatal Reprogramming: Unraveling (Mal)adaptive Strategies

    PubMed Central

    Musazzi, Laura; Marrocco, Jordan

    2016-01-01

    Environmental stressors induce coping strategies in the majority of individuals. The stress response, involving the activation of the hypothalamic-pituitary-adrenocortical axis and the consequent release of corticosteroid hormones, is indeed aimed at promoting metabolic, functional, and behavioral adaptations. However, behavioral stress is also associated with fast and long-lasting neurochemical, structural, and behavioral changes, leading to long-term remodeling of glutamate transmission, and increased susceptibility to neuropsychiatric disorders. Of note, early-life events, both in utero and during the early postnatal life, trigger reprogramming of the stress response, which is often associated with loss of stress resilience and ensuing neurobehavioral (mal)adaptations. Indeed, adverse experiences in early life are known to induce long-term stress-related neuropsychiatric disorders in vulnerable individuals. Here, we discuss recent findings about stress remodeling of excitatory neurotransmission and brain morphology in animal models of behavioral stress. These changes are likely driven by epigenetic factors that lie at the core of the stress-response reprogramming in individuals with a history of perinatal stress. We propose that reprogramming mechanisms may underlie the reorganization of excitatory neurotransmission in the short- and long-term response to stressful stimuli. PMID:27057367

  7. Adaptive strategies in designing the simultaneous global drug development program.

    PubMed

    Yuan, Zhilong; Chen, Gang; Huang, Qin

    2016-01-01

    Many methods have been proposed to account for the potential impact of ethnic/regional factors when extrapolating results from multiregional clinical trials (MRCTs) to targeted ethnic (TE) patients, i.e., "bridging." Most of them either focused on TE patients in the MRCT (i.e., internal bridging) or a separate local clinical trial (LCT) (i.e., external bridging). Huang et al. (2012) integrated both bridging concepts in their method for the Simultaneous Global Drug Development Program (SGDDP) which designs both the MRCT and the LCT prospectively and combines patients in both trials by ethnic origin, i.e., TE vs. non-TE (NTE). The weighted Z test was used to combine information from TE and NTE patients to test with statistical rigor whether a new treatment is effective in the TE population. Practically, the MRCT is often completed before the LCT. Thus to increase the power for the SGDDP and/or obtain more informative data in TE patients, we may use the final results from the MRCT to re-evaluate initial assumptions (e.g., effect sizes, variances, weight), and modify the LCT accordingly. We discuss various adaptive strategies for the LCT such as sample size reassessment, population enrichment, endpoint change, and dose adjustment. As an example, we extend a popular adaptive design method to re-estimate the sample size for the LCT, and illustrate it for a normally distributed endpoint.

  8. Comparison of adaptive algorithms for the control of tonal disturbances in mechanical systems

    NASA Astrophysics Data System (ADS)

    Zilletti, M.; Elliott, S. J.; Cheer, J.

    2016-09-01

    This paper presents a study on the performance of adaptive control algorithms designed to reduce the vibration of mechanical systems excited by a harmonic disturbance. The mechanical system consists of a mass suspended on a spring and a damper. The system is equipped with a force actuator in parallel with the suspension. The control signal driving the actuator is generated by adjusting the amplitude and phase of a sinusoidal reference signal at the same frequency as the excitation. An adaptive feedforward control algorithm is used to adapt the amplitude and phase of the control signal, to minimise the mean square velocity of the mass. Two adaptation strategies are considered in which the control signal is either updated after each period of the oscillation or at every time sample. The first strategy is traditionally used in vibration control in helicopters for example; the second strategy is normally referred to as the filtered-x least mean square algorithm and is often used to control engine noise in cars. The two adaptation strategies are compared through a parametric study, which investigates the influence of the properties of both the mechanical system and the control system on the convergence speed of the two algorithms.

  9. FPGA-accelerated adaptive optics wavefront control

    NASA Astrophysics Data System (ADS)

    Mauch, S.; Reger, J.; Reinlein, C.; Appelfelder, M.; Goy, M.; Beckert, E.; Tünnermann, A.

    2014-03-01

    The speed of real-time adaptive optical systems is primarily restricted by the data processing hardware and computational aspects. Furthermore, the application of mirror layouts with increasing numbers of actuators reduces the bandwidth (speed) of the system and, thus, the number of applicable control algorithms. This burden turns out a key-impediment for deformable mirrors with continuous mirror surface and highly coupled actuator influence functions. In this regard, specialized hardware is necessary for high performance real-time control applications. Our approach to overcome this challenge is an adaptive optics system based on a Shack-Hartmann wavefront sensor (SHWFS) with a CameraLink interface. The data processing is based on a high performance Intel Core i7 Quadcore hard real-time Linux system. Employing a Xilinx Kintex-7 FPGA, an own developed PCie card is outlined in order to accelerate the analysis of a Shack-Hartmann Wavefront Sensor. A recently developed real-time capable spot detection algorithm evaluates the wavefront. The main features of the presented system are the reduction of latency and the acceleration of computation For example, matrix multiplications which in general are of complexity O(n3 are accelerated by using the DSP48 slices of the field-programmable gate array (FPGA) as well as a novel hardware implementation of the SHWFS algorithm. Further benefits are the Streaming SIMD Extensions (SSE) which intensively use the parallelization capability of the processor for further reducing the latency and increasing the bandwidth of the closed-loop. Due to this approach, up to 64 actuators of a deformable mirror can be handled and controlled without noticeable restriction from computational burdens.

  10. Adaptive powertrain control for plugin hybrid electric vehicles

    DOEpatents

    Kedar-Dongarkar, Gurunath; Weslati, Feisel

    2013-10-15

    A powertrain control system for a plugin hybrid electric vehicle. The system comprises an adaptive charge sustaining controller; at least one internal data source connected to the adaptive charge sustaining controller; and a memory connected to the adaptive charge sustaining controller for storing data generated by the at least one internal data source. The adaptive charge sustaining controller is operable to select an operating mode of the vehicle's powertrain along a given route based on programming generated from data stored in the memory associated with that route. Further described is a method of adaptively controlling operation of a plugin hybrid electric vehicle powertrain comprising identifying a route being traveled, activating stored adaptive charge sustaining mode programming for the identified route and controlling operation of the powertrain along the identified route by selecting from a plurality of operational modes based on the stored adaptive charge sustaining mode programming.

  11. Driver behaviour with adaptive cruise control.

    PubMed

    Stanton, Neville A; Young, Mark S

    2005-08-15

    This paper reports on the evaluation of adaptive cruise control (ACC) from a psychological perspective. It was anticipated that ACC would have an effect upon the psychology of driving, i.e. make the driver feel like they have less control, reduce the level of trust in the vehicle, make drivers less situationally aware, but workload might be reduced and driving might be less stressful. Drivers were asked to drive in a driving simulator under manual and ACC conditions. Analysis of variance techniques were used to determine the effects of workload (i.e. amount of traffic) and feedback (i.e. degree of information from the ACC system) on the psychological variables measured (i.e. locus of control, trust, workload, stress, mental models and situation awareness). The results showed that: locus of control and trust were unaffected by ACC, whereas situation awareness, workload and stress were reduced by ACC. Ways of improving situation awareness could include cues to help the driver predict vehicle trajectory and identify conflicts.

  12. Suppressing traffic-driven epidemic spreading by adaptive routing strategy

    NASA Astrophysics Data System (ADS)

    Yang, Han-Xin; Wang, Zhen

    2016-12-01

    Despite extensive work on the interplay between traffic dynamics and epidemic spreading, the control of epidemic spreading by routing strategies has not received adequate attention. In this paper, we study the impact of efficient routing protocol on epidemic spreading. In the case of infinite node-delivery capacity, where the traffic is free of congestion, we find that that there exists optimal values of routing parameter, leading to the maximal epidemic threshold. This means that epidemic spreading can be effectively controlled by fine tuning the routing scheme. Moreover, we find that an increase in the average network connectivity and the emergence of traffic congestion can suppress the epidemic outbreak.

  13. Sensor Web Dynamic Measurement Techniques and Adaptive Observing Strategies

    NASA Technical Reports Server (NTRS)

    Talabac, Stephen J.

    2004-01-01

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

  14. Stochastic Adaptive Control and Estimation Enhancement

    DTIC Science & Technology

    1989-09-01

    total Zu(N-J)’Gj’Q(N)FxIN-1)ou (N-I)I’[ R (N- 1) ’(N I Gil probability theorem to (4.3) yields J*(k.k 3 - min ( Ejx(kl 0(k)x(k) - u(k)’R(klu(k) trQ(N)VI m...Is Independent of Mil), I-k*2 .... N If Dec. 1988. [ Gil N.H. Gholson and R.L. Moose, "ManeuveringM(k.1J Is known, thus Target Tracking Using Adaptive...Control and A(t) =_ J1N X(i,t) is uniformly bounded. Quasi-Variational Inequalities, Gauthier- Villars , . (t9. tER4 , exits 0’ at most a countable

  15. Robust adaptive kinematic control of redundant robots

    NASA Technical Reports Server (NTRS)

    Tarokh, M.; Zuck, D. D.

    1992-01-01

    The paper presents a general method for the resolution of redundancy that combines the Jacobian pseudoinverse and augmentation approaches. A direct adaptive control scheme is developed to generate joint angle trajectories for achieving desired end-effector motion as well as additional user defined tasks. The scheme ensures arbitrarily small errors between the desired and the actual motion of the manipulator. Explicit bounds on the errors are established that are directly related to the mismatch between actual and estimated pseudoinverse Jacobian matrix, motion velocity and the controller gain. It is shown that the scheme is tolerant of the mismatch and consequently only infrequent pseudoinverse computations are needed during a typical robot motion. As a result, the scheme is computationally fast, and can be implemented for real-time control of redundant robots. A method is incorporated to cope with the robot singularities allowing the manipulator to get very close or even pass through a singularity while maintaining a good tracking performance and acceptable joint velocities. Computer simulations and experimental results are provided in support of the theoretical developments.

  16. Stable adaptive control using new critic designs

    NASA Astrophysics Data System (ADS)

    Werbos, Paul J.

    1999-03-01

    Classical adaptive control proves total-system stability for control of linear plants, but only for plants meeting very restrictive assumptions. Approximate Dynamic Programming (ADP) has the potential, in principle, to ensure stability without such tight restrictions. It also offers nonlinear and neural extensions for optimal control, with empirically supported links to what is seen in the brain. However, the relevant ADP methods in use today--TD, HDP, DHP, GDHP--and the Galerkin-based versions of these all have serious limitations when used here as parallel distributed real-time learning systems; either they do not possess quadratic unconditional stability (to be defined) or they lead to incorrect results in the stochastic case. (ADAC or Q- learning designs do not help.) After explaining these conclusions, this paper describes new ADP designs which overcome these limitations. It also addresses the Generalized Moving Target problem, a common family of static optimization problems, and describes a way to stabilize large-scale economic equilibrium models, such as the old long-term energy mode of DOE.

  17. Full-Scale Flight Research Testbeds: Adaptive and Intelligent Control

    NASA Technical Reports Server (NTRS)

    Pahle, Joe W.

    2008-01-01

    This viewgraph presentation describes the adaptive and intelligent control methods used for aircraft survival. The contents include: 1) Motivation for Adaptive Control; 2) Integrated Resilient Aircraft Control Project; 3) Full-scale Flight Assets in Use for IRAC; 4) NASA NF-15B Tail Number 837; 5) Gen II Direct Adaptive Control Architecture; 6) Limited Authority System; and 7) 837 Flight Experiments. A simulated destabilization failure analysis along with experience and lessons learned are also presented.

  18. A survey of adaptive control technology in robotics

    NASA Technical Reports Server (NTRS)

    Tosunoglu, S.; Tesar, D.

    1987-01-01

    Previous work on the adaptive control of robotic systems is reviewed. Although the field is relatively new and does not yet represent a mature discipline, considerable attention has been given to the design of sophisticated robot controllers. Here, adaptive control methods are divided into model reference adaptive systems and self-tuning regulators with further definition of various approaches given in each class. The similarity and distinct features of the designed controllers are delineated and tabulated to enhance comparative review.

  19. Adaptive and Qualitative Changes in Encoding Strategy With Experience: Evidence From the Test-Expectancy Paradigm

    PubMed Central

    Finley, Jason R.; Benjamin, Aaron S.

    2012-01-01

    Three experiments demonstrated learners’ abilities to adaptively and qualitatively accommodate their encoding strategies to the demands of an upcoming test. Stimuli were word pairs. In Experiment 1, test expectancy was induced for either cued recall (of targets given cues) or free recall (of targets only) across 4 study–test cycles of the same test format, followed by a final critical cycle featuring either the expected or the unexpected test format. For final tests of both cued and free recall, participants who had expected that test format outperformed those who had not. This disordinal interaction, supported by recognition and self-report data, demonstrated not mere differences in effort based on anticipated test difficulty, but rather qualitative and appropriate differences in encoding strategies based on expected task demands. Participants also came to appropriately modulate metacognitive monitoring (Experiment 2) and study-time allocation (Experiment 3) across study–test cycles. Item and associative recognition performance, as well as self-report data, revealed shifts in encoding strategies across trials; these results were used to characterize and evaluate the different strategies that participants employed for cued versus free recall and to assess the optimality of participants’ metacognitive control of encoding strategies. Taken together, these data illustrate a sophisticated form of metacognitive control, in which learners qualitatively shift encoding strategies to match the demands of anticipated tests. PMID:22103783

  20. Adaptive and qualitative changes in encoding strategy with experience: evidence from the test-expectancy paradigm.

    PubMed

    Finley, Jason R; Benjamin, Aaron S

    2012-05-01

    Three experiments demonstrated learners' abilities to adaptively and qualitatively accommodate their encoding strategies to the demands of an upcoming test. Stimuli were word pairs. In Experiment 1, test expectancy was induced for either cued recall (of targets given cues) or free recall (of targets only) across 4 study-test cycles of the same test format, followed by a final critical cycle featuring either the expected or the unexpected test format. For final tests of both cued and free recall, participants who had expected that test format outperformed those who had not. This disordinal interaction, supported by recognition and self-report data, demonstrated not mere differences in effort based on anticipated test difficulty, but rather qualitative and appropriate differences in encoding strategies based on expected task demands. Participants also came to appropriately modulate metacognitive monitoring (Experiment 2) and study-time allocation (Experiment 3) across study-test cycles. Item and associative recognition performance, as well as self-report data, revealed shifts in encoding strategies across trials; these results were used to characterize and evaluate the different strategies that participants employed for cued versus free recall and to assess the optimality of participants' metacognitive control of encoding strategies. Taken together, these data illustrate a sophisticated form of metacognitive control, in which learners qualitatively shift encoding strategies to match the demands of anticipated tests.

  1. Hierarchical Control Strategy for the Cooperative Braking System of Electric Vehicle.

    PubMed

    Peng, Jiankun; He, Hongwen; Liu, Wei; Guo, Hongqiang

    2015-01-01

    This paper provides a hierarchical control strategy for cooperative braking system of an electric vehicle with separated driven axles. Two layers are defined: the top layer is used to optimize the braking stability based on two sliding mode control strategies, namely, the interaxle control mode and signal-axle control strategies; the interaxle control strategy generates the ideal braking force distribution in general braking condition, and the single-axle control strategy can ensure braking safety in emergency braking condition; the bottom layer is used to maximize the regenerative braking energy recovery efficiency with a reallocated braking torque strategy; the reallocated braking torque strategy can recovery braking energy as much as possible in the premise of meeting battery charging power. The simulation results show that the proposed hierarchical control strategy is reasonable and can adapt to different typical road surfaces and load cases; the vehicle braking stability and safety can be guaranteed; furthermore, the regenerative braking energy recovery efficiency can be improved.

  2. Adaptive Control Allocation in the Presence of Actuator Failures

    NASA Technical Reports Server (NTRS)

    Liu, Yu; Crespo, Luis G.

    2010-01-01

    In this paper, a novel adaptive control allocation framework is proposed. In the adaptive control allocation structure, cooperative actuators are grouped and treated as an equivalent control effector. A state feedback adaptive control signal is designed for the equivalent effector and allocated to the member actuators adaptively. Two adaptive control allocation algorithms are proposed, which guarantee closed-loop stability and asymptotic state tracking in the presence of uncertain loss of effectiveness and constant-magnitude actuator failures. The proposed algorithms can be shown to reduce the controller complexity with proper grouping of the actuators. The proposed adaptive control allocation schemes are applied to two linearized aircraft models, and the simulation results demonstrate the performance of the proposed algorithms.

  3. Managing work and family: Do control strategies help?

    PubMed

    Versey, H Shellae

    2015-11-01

    How can we effectively manage competing obligations from work and family without becoming overwhelmed? This question inspires the current study by examining control strategies that may facilitate better work-life balance, with a specific focus on the role of lowered aspirations and positive reappraisals, attitudes that underlie adaptive coping behaviors. Data from the Midlife in the United States Survey (MIDUS II) were used to explore the relationship between negative spillover, control strategies, and well-being among full-time working men and women (N = 2,091). In this nationally representative sample, findings indicate that while positive reappraisals function as a protective buffer, lowering aspirations exacerbate the relationship between work-family spillover and well-being, with moderating effects stronger among women. This study extends prior research tying work-life conflict to health and mental health, and suggests further investigation is needed to consider types of resources that may be effective coping strategies in balancing work and family.

  4. Progress in adaptive control of flexible spacecraft using lattice filters

    NASA Technical Reports Server (NTRS)

    Sundararajan, N.; Montgomery, R. C.

    1985-01-01

    This paper reviews the use of the least square lattice filter in adaptive control systems. Lattice filters have been used primarily in speech and signal processing, but they have utility in adaptive control because of their order-recursive nature. They are especially useful in dealing with structural dynamics systems wherein the order of a controller required to damp a vibration is variable depending on the number of modes significantly excited. Applications are presented for adaptive control of a flexible beam. Also, difficulties in the practical implementation of the lattice filter in adaptive control are discussed.

  5. Ethnic enclaves and middleman minorities: alternative strategies of immigrant adaptation?

    PubMed

    Cobas, J A

    1987-04-01

    This article examines 2 modes or strategies of immigrant adaptation: middleman minorities and ethnic enclaves. Although they have been discussed as if they were disjointed and mutually exclusive, the authors challenge this view. Middleman minorities 1) tend to be self-employed or to work for a coethnic, 2) are usually concentrated in small business, 3) tend to rely on the in-group for resources, and 4) fill a "status gap" in the receiving society. Ethnic enclaves depend on 3 features: 1) recent coethnic arrivals spend a tour of duty at the worst jobs, 2) coethnics provide ethnic entrepreneurs with consumer markets, 3) ethnic businesses rely on each other to supply their operating needs. Ethnic enclaves are concentrated and spatially identifiable. For this study, the authors collected data in a survey of the Cuban exile community of San Juan, Puerto Rico. The sample selection procedure yielded a total of 261 individuals, 220 of whom were interviewed. 10 predictions found in the middleman minority and ethnic enclave perspectives were checked against the researchers' data. 4 of these predictions are hld in common by both approaches: 1) eomployment in an ethnic enterprise increases subsequent chances of self-employment, 2) ethnic firms rely on the in-group for business resources, 3) coethnic workers represent an asset to the ethnic entrepreneur in that they occupy important positions requiring the employer's trust, and 4) there is business competition between locals and minority members. As predicted by the middleman strategy, Cuban businesses in Puerto Rico tend not to be immediately productive and there is no evidence of spatial concentration of these businesses. However, fitting the enclave approach, these firms do not dominate certain business lines, Cuban entrepreneurs do not appear to be sojourners, and they tend to have business backgrounds. The middleman perspective is supported in that some elements of the local elite favor Cuban exiles. Thus, there is no

  6. Invasion strategies in clonal aquatic plants: are phenotypic differences caused by phenotypic plasticity or local adaptation?

    PubMed Central

    Riis, Tenna; Lambertini, Carla; Olesen, Birgit; Clayton, John S.; Brix, Hans; Sorrell, Brian K.

    2010-01-01

    Background and Aims The successful spread of invasive plants in new environments is often linked to multiple introductions and a diverse gene pool that facilitates local adaptation to variable environmental conditions. For clonal plants, however, phenotypic plasticity may be equally important. Here the primary adaptive strategy in three non-native, clonally reproducing macrophytes (Egeria densa, Elodea canadensis and Lagarosiphon major) in New Zealand freshwaters were examined and an attempt was made to link observed differences in plant morphology to local variation in habitat conditions. Methods Field populations with a large phenotypic variety were sampled in a range of lakes and streams with different chemical and physical properties. The phenotypic plasticity of the species before and after cultivation was studied in a common garden growth experiment, and the genetic diversity of these same populations was also quantified. Key Results For all three species, greater variation in plant characteristics was found before they were grown in standardized conditions. Moreover, field populations displayed remarkably little genetic variation and there was little interaction between habitat conditions and plant morphological characteristics. Conclusions The results indicate that at the current stage of spread into New Zealand, the primary adaptive strategy of these three invasive macrophytes is phenotypic plasticity. However, while limited, the possibility that genetic diversity between populations may facilitate ecotypic differentiation in the future cannot be excluded. These results thus indicate that invasive clonal aquatic plants adapt to new introduced areas by phenotypic plasticity. Inorganic carbon, nitrogen and phosphorous were important in controlling plant size of E. canadensis and L. major, but no other relationships between plant characteristics and habitat conditions were apparent. This implies that within-species differences in plant size can be explained

  7. HTGR Resilient Control System Strategy

    SciTech Connect

    Lynne M. Stevens

    2010-09-01

    A preeminent objective for corporate and government organizations is the protection of major investments, which is attained by achieving state awareness, a comprehensive understanding of security and safety, for critical infrastructures. Given the dependence of critical infrastructure on control systems for automation, the integrity of these systems and their ability to provide owner/operators a high degree of state awareness is essential in attaining a high degree of investment protection and public acceptance. Operators as well as government are therefore burdened to ensure they have a timely understanding of the status of their plant or all plants, respectively, to ensure efficient operations and investment and public protection. “This characterization is a significant objective that must consider many aspects of instrumentation, control, and intelligent systems in order to achieve the required result. These aspects include sensory, communication, analysis, decision, and human system interfaces necessary to achieve fusion of data and presentation of results that will provide an understanding of what issues are important and why.

  8. Photosynthetic adaptation strategy of Ulva prolifera floating on the sea surface to environmental changes.

    PubMed

    Zhao, Xinyu; Tang, Xuexi; Zhang, Huanxin; Qu, Tongfei; Wang, Ying

    2016-10-01

    For 8 consecutive years, a green tide has originated in the southern Yellow Sea and spread to the Qingdao offshore area. The causative species, Ulva prolifera, always forms a very thick thallus mat that is capable of drifting long distances over long periods. During this process, although the thalli face disturbance by complex environmental factors, they maintain high biomass and proliferation. We hypothesized that some form of photosynthetic adaptation strategy must exist to protect the thalli. Therefore, we studied the different photosynthetic response characteristics of the surface and lower layers of the floating thallus mats, and investigated the physiological and molecular-level adaptation mechanisms. The results showed that: (1) U. prolifera has strong photosynthetic capability that ensures it can gain sufficient energy to increase its biomass and adapt to long-distance migration. (2) Surface layer thalli adapt to the complex environment by dissipating excess energy via photosynthetic quantum control (energy quenching and energy redistribution between PSII/PSI) to avoid irreversible damage to the photosynthetic system. (3) Lower layer thalli increase their contents of Chlorophyll a (Chl a) and Chlorophyll b (Chl b) and decrease their Chl a/Chl b ratio to improve their ability to use light energy. (4) U. prolifera has strong photosynthetic plasticity and can adapt to frequent exchange between the surface and lower layer environments because of wave disturbance. Pigment component changes, energy quenching, and energy redistribution between PSII/PSI contribute to this photosynthetic plasticity.

  9. Verification and Tuning of an Adaptive Controller for an Unmanned Air Vehicle

    NASA Technical Reports Server (NTRS)

    Crespo, Luis G.; Matsutani, Megumi; Annaswamy, Anuradha M.

    2010-01-01

    This paper focuses on the analysis and tuning of a controller based on the Adaptive Control Technology for Safe Flight (ACTS) architecture. The ACTS architecture consists of a nominal, non-adaptive controller that provides satisfactory performance under nominal flying conditions, and an adaptive controller that provides robustness under off-nominal ones. A framework unifying control verification and gain tuning is used to make the controller s ability to satisfy the closed-loop requirements more robust to uncertainty. In this paper we tune the gains of both controllers using this approach. Some advantages and drawbacks of adaptation are identified by performing a global robustness assessment of both the adaptive controller and its non-adaptive counterpart. The analyses used to determine these characteristics are based on evaluating the degradation in closed-loop performance resulting from uncertainties having increasing levels of severity. The specific adverse conditions considered can be grouped into three categories: aerodynamic uncertainties, structural damage, and actuator failures. These failures include partial and total loss of control effectiveness, locked-in-place control surface deflections, and engine out conditions. The requirements considered are the peak structural loading, the ability of the controller to track pilot commands, the ability of the controller to keep the aircraft s state within the reliable flight envelope, and the handling/riding qualities of the aircraft. The nominal controller resulting from these tuning strategies was successfully validated using the NASA GTM Flight Test Vehicle.

  10. Modular and Adaptive Control of Sound Processing

    NASA Astrophysics Data System (ADS)

    van Nort, Douglas

    parameters. In this view, desired gestural dynamics and sonic response are achieved through modular construction of mapping layers that are themselves subject to parametric control. Complementing this view of the design process, the work concludes with an approach in which the creation of gestural control/sound dynamics are considered in the low-level of the underlying sound model. The result is an adaptive system that is specialized to noise-based transformations that are particularly relevant in an electroacoustic music context. Taken together, these different approaches to design and evaluation result in a unified framework for creation of an instrumental system. The key point is that this framework addresses the influence that mapping structure and control dynamics have on the perceived feel of the instrument. Each of the results illustrate this using either top-down or bottom-up approaches that consider musical control context, thereby pointing to the greater potential for refined sonic articulation that can be had by combining them in the design process.

  11. Direct adaptive control of wind energy conversion systems using Gaussian networks.

    PubMed

    Mayosky, M A; Cancelo, I E

    1999-01-01

    Grid connected wind energy conversion systems (WECS) present interesting control demands, due to the intrinsic nonlinear characteristics of windmills and electric generators. In this paper a direct adaptive control strategy for WECS control is proposed. It is based on the combination of two control actions: a radial basis zfunction network-based adaptive controller, which drives the tracking error to zero with user specified dynamics, and a supervisory controller, based on crude bounds of the system's nonlinearities. The supervisory controller fires when the finite neural-network approximation properties cannot be guaranteed. The form of the supervisor control and the adaptation law for the neural controller are derived from a Lyapunov analysis of stability. The results are applied to a typical turbine/generator pair, showing the feasibility of the proposed solution.

  12. Adaptive Control of Visually Guided Grasping in Neural Networks

    DTIC Science & Technology

    1990-03-12

    U01ITU S.WM NONnumsen Adaptive Control of Visually Guided Grasping in Neural Networks AFOSR-89-&CO030 88-NL-209 L AUTHOrSF 2313/A8 00 61102F (V) Dr...FINAL REPORT ADAPTIVE CONTROL OF VISUALLY GUIDED GRASPING IN NEURAL NETWORKS Neurogen Laboratories Inc. Project Summary Research performed for AFOSR...arm’s length in position and 6 degrees in orientation. Keywords: Neural Networks , Adaptive Motor Control, Sensory-Motor sensation Introduction The human

  13. Simulation of Spacecraft Damage Tolerance and Adaptive Controls

    DTIC Science & Technology

    2013-06-01

    operator. Limitations of current technology abounded, leaving the X-15 with a successful, but severely limited adaptive control system. Since then...many limitations have fallen away, allowing for the first time employment of adaptive controls on a large scale. The nature of adaptive controls, or...THIS PAGE Unclassified 19. SECURITY CLASSIFICATION OF ABSTRACT Unclassified 20. LIMITATION OF ABSTRACT UU NSN 7540–01–280–5500 Standard Form

  14. Floral thermogenesis: An adaptive strategy of pollination biology in Magnoliaceae.

    PubMed

    Wang, Ruohan; Zhang, Zhixiang

    2015-01-01

    Floral thermogenesis plays a crucial role in pollination biology, especially in plant-pollinator interactions. We have recently explored how thermogenesis is related to pollinator activity and odour release in Magnolia sprengeri. By analyzing flower temperatures, emission of volatiles, and insect visitation, we found that floral blends released during pistillate and staminate stages were similar and coincided with sap beetle visitation. Thus, odour mimicry of staminate-stage flowers may occur during the pistillate stage and may be an adaptive strategy of Magnolia species to attract pollinators during both stages, ensuring successful pollination. In addition to the biological significance of floral thermogenesis in Magnolia species, we explored the underlying regulatory mechanisms via profiling miRNA expression in M. denudata flowers during thermogenic and non-thermogenic stages. We identified 17 miRNAs that may play regulatory roles in floral thermogenesis. Functional annotation of their target genes indicated that these miRNAs regulate floral thermogenesis by influencing cellular respiration and light reactions. These findings increase our understanding of plant-pollinator interactions and the regulatory mechanisms in thermogenic plants.

  15. Urban plant physiology: adaptation-mitigation strategies under permanent stress.

    PubMed

    Calfapietra, Carlo; Peñuelas, Josep; Niinemets, Ülo

    2015-02-01

    Urban environments that are stressful for plant function and growth will become increasingly widespread in future. In this opinion article, we define the concept of 'urban plant physiology', which focuses on plant responses and long term adaptations to urban conditions and on the capacity of urban vegetation to mitigate environmental hazards in urbanized settings such as air and soil pollution. Use of appropriate control treatments would allow for studies in urban environments to be comparable to expensive manipulative experiments. In this opinion article, we propose to couple two approaches, based either on environmental gradients or manipulated gradients, to develop the concept of urban plant physiology for assessing how single or multiple environmental factors affect the key environmental services provided by urban forests.

  16. Least-Squares Adaptive Control Using Chebyshev Orthogonal Polynomials

    NASA Technical Reports Server (NTRS)

    Nguyen, Nhan T.; Burken, John; Ishihara, Abraham

    2011-01-01

    This paper presents a new adaptive control approach using Chebyshev orthogonal polynomials as basis functions in a least-squares functional approximation. The use of orthogonal basis functions improves the function approximation significantly and enables better convergence of parameter estimates. Flight control simulations demonstrate the effectiveness of the proposed adaptive control approach.

  17. A robust adaptive load frequency control for micro-grids.

    PubMed

    Khooban, Mohammad-Hassan; Niknam, Taher; Blaabjerg, Frede; Davari, Pooya; Dragicevic, Tomislav

    2016-11-01

    The goal of this study is to introduce a novel robust load frequency control (LFC) strategy for micro-grid(s) (MG(s)) in islanded mode operation. Admittedly, power generators in MG(s) cannot supply steady electric power output and sometimes cause unbalance between supply and demand. Battery energy storage system (BESS) is one of the effective solutions to these problems. Due to the high cost of the BESS, a new idea of Vehicle-to-Grid (V2G) is that a battery of Electric-Vehicle (EV) can be applied as a tantamount large-scale BESS in MG(s). As a result, a new robust control strategy for an islanded micro-grid (MG) is introduced that can consider electric vehicles׳ (EV(s)) effect. Moreover, in this paper, a new combination of the General Type II Fuzzy Logic Sets (GT2FLS) and the Modified Harmony Search Algorithm (MHSA) technique is applied for adaptive tuning of proportional-integral (PI) controller. Implementing General Type II Fuzzy Systems is computationally expensive. However, using a recently introduced α-plane representation, GT2FLS can be seen as a composition of several Interval Type II Fuzzy Logic Systems (IT2FLS) with a corresponding level of α for each. Real-data from an offshore wind farm in Sweden and solar radiation data in Aberdeen (United Kingdom) was used in order to examine the performance of the proposed novel controller. A comparison is made between the achieved results of Optimal Fuzzy-PI (OFPI) controller and those of Optimal Interval Type II Fuzzy-PI (IT2FPI) controller, which are of most recent advances in the area at hand. The Simulation results prove the successfulness and effectiveness of the proposed controller.

  18. Adaptive-passive vibration control systems for industrial applications

    NASA Astrophysics Data System (ADS)

    Mayer, D.; Pfeiffer, T.; Vrbata, J.; Melz, T.

    2015-04-01

    Tuned vibration absorbers have become common for passive vibration reduction in many industrial applications. Lightly damped absorbers (also called neutralizers) can be used to suppress narrowband disturbances by tuning them to the excitation frequency. If the resonance is adapted in-operation, the performance of those devices can be significantly enhanced, or inertial mass can be decreased. However, the integration of actuators, sensors and control electronics into the system raises new design challenges. In this work, the development of adaptive-passive systems for vibration reduction at an industrial scale is presented. As an example, vibration reduction of a ship engine was studied in a full scale test. Simulations were used to study the feasibility and evaluate the system concept at an early stage. Several ways to adjust the resonance of the neutralizer were evaluated, including piezoelectric actuation and common mechatronic drives. Prototypes were implemented and tested. Since vibration absorbers suffer from high dynamic loads, reliability tests were used to assess the long-term behavior under operational conditions and to improve the components. It was proved that the adaptive systems are capable to withstand the mechanical loads in an industrial application. Also a control strategy had to be implemented in order to track the excitation frequency. The most mature concepts were integrated into the full scale test. An imbalance exciter was used to simulate the engine vibrations at a realistic level experimentally. The neutralizers were tested at varying excitation frequencies to evaluate the tracking capabilities of the control system. It was proved that a significant vibration reduction is possible.

  19. Adaptive Management as an Effective Strategy: Interdisciplinary Perceptions for Natural Resources Management

    NASA Astrophysics Data System (ADS)

    Dreiss, Lindsay M.; Hessenauer, Jan-Michael; Nathan, Lucas R.; O'Connor, Kelly M.; Liberati, Marjorie R.; Kloster, Danielle P.; Barclay, Janet R.; Vokoun, Jason C.; Morzillo, Anita T.

    2017-02-01

    Adaptive management is a well-established approach to managing natural resources, but there is little evidence demonstrating effectiveness of adaptive management over traditional management techniques. Peer-reviewed literature attempts to draw conclusions about adaptive management effectiveness using social perceptions, but those studies are largely restricted to employees of US federal organizations. To gain a more comprehensive insight into perceived adaptive management effectiveness, this study aimed to broaden the suite of disciplines, professional affiliations, and geographic backgrounds represented by both practitioners and scholars. A questionnaire contained a series of questions concerning factors that lead to or inhibit effective management, followed by another set of questions focused on adaptive management. Using a continuum representing strategies of both adaptive management and traditional management, respondents selected those strategies that they perceived as being effective. Overall, characteristics (i.e., strategies, stakeholders, and barriers) identified by respondents as contributing to effective management closely aligned with adaptive management. Responses were correlated to the type of adaptive management experience rather than an individual's discipline, occupational, or regional affiliation. In particular, perceptions of characteristics contributing to adaptive management effectiveness varied between respondents who identified as adaptive management scholars (i.e., no implementation experience) and adaptive management practitioners. Together, these results supported two concepts that make adaptive management effective: practitioners emphasized adaptive management's value as a long-term approach and scholars noted the importance of stakeholder involvement. Even so, more communication between practitioners and scholars regarding adaptive management effectiveness could promote interdisciplinary learning and problem solving for improved

  20. Adaptive servo control for umbilical mating

    NASA Technical Reports Server (NTRS)

    Zia, Omar

    1988-01-01

    Robotic applications at Kennedy Space Center are unique and in many cases require the fime positioning of heavy loads in dynamic environments. Performing such operations is beyond the capabilities of an off-the-shelf industrial robot. Therefore Robotics Applications Development Laboratory at Kennedy Space Center has put together an integrated system that coordinates state of the art robotic system providing an excellent easy to use testbed for NASA sensor integration experiments. This paper reviews the ways of improving the dynamic response of the robot operating under force feedback with varying dynamic internal perturbations in order to provide continuous stable operations under variable load conditions. The goal is to improve the stability of the system with force feedback using the adaptive control feature of existing system over a wide range of random motions. The effect of load variations on the dynamics and the transfer function (order or values of the parameters) of the system has been investigated, more accurate models of the system have been determined and analyzed.

  1. Restricted Complexity Framework for Nonlinear Adaptive Control in Complex Systems

    NASA Astrophysics Data System (ADS)

    Williams, Rube B.

    2004-02-01

    Control law adaptation that includes implicit or explicit adaptive state estimation, can be a fundamental underpinning for the success of intelligent control in complex systems, particularly during subsystem failures, where vital system states and parameters can be impractical or impossible to measure directly. A practical algorithm is proposed for adaptive state filtering and control in nonlinear dynamic systems when the state equations are unknown or are too complex to model analytically. The state equations and inverse plant model are approximated by using neural networks. A framework for a neural network based nonlinear dynamic inversion control law is proposed, as an extrapolation of prior developed restricted complexity methodology used to formulate the adaptive state filter. Examples of adaptive filter performance are presented for an SSME simulation with high pressure turbine failure to support extrapolations to adaptive control problems.

  2. Restricted Complexity Framework for Nonlinear Adaptive Control in Complex Systems

    SciTech Connect

    Williams, Rube B.

    2004-02-04

    Control law adaptation that includes implicit or explicit adaptive state estimation, can be a fundamental underpinning for the success of intelligent control in complex systems, particularly during subsystem failures, where vital system states and parameters can be impractical or impossible to measure directly. A practical algorithm is proposed for adaptive state filtering and control in nonlinear dynamic systems when the state equations are unknown or are too complex to model analytically. The state equations and inverse plant model are approximated by using neural networks. A framework for a neural network based nonlinear dynamic inversion control law is proposed, as an extrapolation of prior developed restricted complexity methodology used to formulate the adaptive state filter. Examples of adaptive filter performance are presented for an SSME simulation with high pressure turbine failure to support extrapolations to adaptive control problems.

  3. Synthetic consciousness: the distributed adaptive control perspective.

    PubMed

    Verschure, Paul F M J

    2016-08-19

    Understanding the nature of consciousness is one of the grand outstanding scientific challenges. The fundamental methodological problem is how phenomenal first person experience can be accounted for in a third person verifiable form, while the conceptual challenge is to both define its function and physical realization. The distributed adaptive control theory of consciousness (DACtoc) proposes answers to these three challenges. The methodological challenge is answered relative to the hard problem and DACtoc proposes that it can be addressed using a convergent synthetic methodology using the analysis of synthetic biologically grounded agents, or quale parsing. DACtoc hypothesizes that consciousness in both its primary and secondary forms serves the ability to deal with the hidden states of the world and emerged during the Cambrian period, affording stable multi-agent environments to emerge. The process of consciousness is an autonomous virtualization memory, which serializes and unifies the parallel and subconscious simulations of the hidden states of the world that are largely due to other agents and the self with the objective to extract norms. These norms are in turn projected as value onto the parallel simulation and control systems that are driving action. This functional hypothesis is mapped onto the brainstem, midbrain and the thalamo-cortical and cortico-cortical systems and analysed with respect to our understanding of deficits of consciousness. Subsequently, some of the implications and predictions of DACtoc are outlined, in particular, the prediction that normative bootstrapping of conscious agents is predicated on an intentionality prior. In the view advanced here, human consciousness constitutes the ultimate evolutionary transition by allowing agents to become autonomous with respect to their evolutionary priors leading to a post-biological Anthropocene.This article is part of the themed issue 'The major synthetic evolutionary transitions'.

  4. Optical Beam Control Using Adaptive Optics

    DTIC Science & Technology

    2005-12-01

    30 1. Principles of Operation......................................................................31 VI. USING ZERNIKE POLYNOMIALS TO...help patience in helping me to understand the underlying principles of optics. xiv THIS PAGE INTENTIONALLY...correct this using adaptive optics. Adaptive Optics first got its start in 215 AD with the destruction of the Roman Fleet by Archimedes (Lamberson

  5. Adaptive neuro-control for large flexible structures

    NASA Astrophysics Data System (ADS)

    Krishna Kumar, K.; Montgomery, L.

    1992-12-01

    Special problems related to control system design for large flexible structures include the inherent low damping, wide range of modal frequencies, unmodeled dynamics, and possibility of system failures. Neuro-control, which combines concepts from artificial neural networks and adaptive control is investigated as a solution to some of these problems. Specifically, the roles of neutro-controllers in learning unmodeled dynamics and adaptive control for system failures are investigated. The neuro-controller synthesis procedure and its capabilities in adaptively controlling the structure are demonstrated using a mathematical model of an existing structure, the advanced control evaluation for systems test article located at NASA/Marshall Space Flight Center. Also, the real-time adaptive capability of neuro-controllers is demonstrated via an experiment utilizing a flexible clamped-free beam equipped with an actuator that uses a bang-bang controller.

  6. Adaptive Neural Control of Uncertain MIMO Nonlinear Systems With State and Input Constraints.

    PubMed

    Chen, Ziting; Li, Zhijun; Chen, C L Philip

    2016-03-17

    An adaptive neural control strategy for multiple input multiple output nonlinear systems with various constraints is presented in this paper. To deal with the nonsymmetric input nonlinearity and the constrained states, the proposed adaptive neural control is combined with the backstepping method, radial basis function neural network, barrier Lyapunov function (BLF), and disturbance observer. By ensuring the boundedness of the BLF of the closed-loop system, it is demonstrated that the output tracking is achieved with all states remaining in the constraint sets and the general assumption on nonsingularity of unknown control coefficient matrices has been eliminated. The constructed adaptive neural control has been rigorously proved that it can guarantee the semiglobally uniformly ultimate boundedness of all signals in the closed-loop system. Finally, the simulation studies on a 2-DOF robotic manipulator system indicate that the designed adaptive control is effective.

  7. Adaptive fuzzy switched control design for uncertain nonholonomic systems with input nonsmooth constraint

    NASA Astrophysics Data System (ADS)

    Li, Yongming; Tong, Shaocheng

    2016-10-01

    In this paper, a fuzzy adaptive switched control approach is proposed for a class of uncertain nonholonomic chained systems with input nonsmooth constraint. In the control design, an auxiliary dynamic system is designed to address the input nonsmooth constraint, and an adaptive switched control strategy is constructed to overcome the uncontrollability problem associated with x0(t0) = 0. By using fuzzy logic systems to tackle unknown nonlinear functions, a fuzzy adaptive control approach is explored based on the adaptive backstepping technique. By constructing the combination approximation technique and using Young's inequality scaling technique, the number of the online learning parameters is reduced to n and the 'explosion of complexity' problem is avoid. It is proved that the proposed method can guarantee that all variables of the closed-loop system converge to a small neighbourhood of zero. Two simulation examples are provided to illustrate the effectiveness of the proposed control approach.

  8. Experimental investigation of adaptive control of a parallel manipulator

    NASA Technical Reports Server (NTRS)

    Nguyen, Charles C.; Antrazi, Sami S.

    1992-01-01

    The implementation of a joint-space adaptive control scheme used to control non-compliant motion of a Stewart Platform-based Manipulator (SPBM) is presented. The SPBM is used in a facility called the Hardware Real-Time Emulator (HRTE) developed at Goddard Space Flight Center to emulate space operations. The SPBM is comprised of two platforms and six linear actuators driven by DC motors, and possesses six degrees of freedom. The report briefly reviews the development of the adaptive control scheme which is composed of proportional-derivative (PD) controllers whose gains are adjusted by an adaptation law driven by the errors between the desired and actual trajectories of the SPBM actuator lengths. The derivation of the adaptation law is based on the concept of model reference adaptive control (MRAC) and Lyapunov direct method under the assumption that SPBM motion is slow as compared to the controller adaptation rate. An experimental study is conducted to evaluate the performance of the adaptive control scheme implemented to control the SPBM to track a vertical and circular paths under step changes in payload. Experimental results show that the adaptive control scheme provides superior tracking capability as compared to fixed-gain controllers.

  9. Adaptive Force Control For Compliant Motion Of A Robot

    NASA Technical Reports Server (NTRS)

    Seraji, Homayoun

    1995-01-01

    Two adaptive control schemes offer robust solutions to problem of stable control of forces of contact between robotic manipulator and objects in its environment. They are called "adaptive admittance control" and "adaptive compliance control." Both schemes involve use of force-and torque sensors that indicate contact forces. These schemes performed well when tested in computational simulations in which they were used to control seven-degree-of-freedom robot arm in executing contact tasks. Choice between admittance or compliance control is dictated by requirements of the application at hand.

  10. Adaptive backstepping control for three axis microsatellite attitude pointing under actuator faults

    NASA Astrophysics Data System (ADS)

    MOHAMMED, M. A. SI; BOUSSADIA, H.; BELLAR, A.; ADNANE, A.

    2017-01-01

    This paper presents the design of Low Earth Orbit (LEO) micro-satellite attitude controller using reaction wheels, and under actuator faults. Firstly, a backstepping controller is developed when the actuator is fault-free. Then, a fault tolerant controller is designed to compensate the actuator fault. Two types of this latter are considered (additive and multiplicative faults). The presented control strategy is based on adaptive backstepping technique. The simulation results clearly demonstrate the effectiveness of the presented technique.

  11. Adaptive and Optimal Control of Stochastic Dynamical Systems

    DTIC Science & Technology

    2015-09-14

    control and stochastic differential games . Stochastic linear-quadratic, continuous time, stochastic control problems are solved for systems with noise...control problems for systems with arbitrary correlated n 15. SUBJECT TERMS Adaptive control, optimal control, stochastic differential games 16. SECURITY...explicit results have been obtained for problems of stochastic control and stochastic differential games . Stochastic linear- quadratic, continuous time

  12. Adaptive Control Techniques for Large Space Structures

    DTIC Science & Technology

    1989-01-06

    Point Analy- sis", submitted, IEEE Trans. on Circuits and Systems; Special Issue on Adaptive Systems, Sept. 1987. I.M.Y. Mareels, R.R. Bitmead, M. Gevers...adaptive system with unmodelled dynamics," Proc. IFAC Workshop on Adaptive Systems, San Francisco, CA. C.A. Desoer , R.W. Liu, J. Murray and R. Sacks...June 1980. C.A. Desoer and M. Vidyasagar, Feedback Systems: Input-Output Properties, Academic Press, * 1975. J.C. Doyle and G. Stein (1981

  13. Pulse front control with adaptive optics

    NASA Astrophysics Data System (ADS)

    Sun, B.; Salter, P. S.; Booth, M. J.

    2016-03-01

    The focusing of ultrashort laser pulses is extremely important for processes including microscopy, laser fabrication and fundamental science. Adaptive optic elements, such as liquid crystal spatial light modulators or membrane deformable mirrors, are routinely used for the correction of aberrations in these systems, leading to improved resolution and efficiency. Here, we demonstrate that adaptive elements used with ultrashort pulses should not be considered simply in terms of wavefront modification, but that changes to the incident pulse front can also occur. We experimentally show how adaptive elements may be used to engineer pulse fronts with spatial resolution.

  14. Fractional adaptive control for an automatic voltage regulator.

    PubMed

    Aguila-Camacho, Norelys; Duarte-Mermoud, Manuel A

    2013-11-01

    This paper presents the application of a direct Fractional Order Model Reference Adaptive Controller (FOMRAC) to an Automatic Voltage Regulator (AVR). A direct FOMRAC is a direct Model Reference Adaptive Control (MRAC), whose controller parameters are adjusted using fractional order differential equations. Four realizations of the FOMRAC were designed in this work, each one considering different orders for the plant model. The design procedure consisted of determining the optimal values of the fractional order and the adaptive gains for each adaptive law, using Genetic algorithm optimization. Comparisons were made among the four FOMRAC designs, a fractional order PID (FOPID), a classical PID, and four Integer Order Model Reference Adaptive Controllers (IOMRAC), showing that the FOMRAC can improve the controlled system behavior and its robustness with respect to model uncertainties. Finally, some performance indices are presented here for the controlled schemes, in order to show the advantages and disadvantages of the FOMRAC.

  15. An adaptive controller for enhancing operator performance during teleoperation

    NASA Technical Reports Server (NTRS)

    Carignan, Craig R.; Tarrant, Janice M.; Mosier, Gary E.

    1989-01-01

    An adaptive controller is developed for adjusting robot arm parameters while manipulating payloads of unknown mass and inertia. The controller is tested experimentally in a master/slave configuration where the adaptive slave arm is commanded via human operator inputs from a master. Kinematically similar six-joint master and slave arms are used with the last three joints locked for simplification. After a brief initial adaptation period for the unloaded arm, the slave arm retrieves different size payloads and maneuvers them about the workspace. Comparisons are then drawn with similar tasks where the adaptation is turned off. Several simplifications of the controller dynamics are also addressed and experimentally verified.

  16. Land Use Adaptation Strategies Analysis in Landslide Risk Region

    NASA Astrophysics Data System (ADS)

    Lin, Yu-Ching; Chang, Chin-Hsin; Chen, Ying-Tung

    2013-04-01

    In order to respond to the impact of climate and environmental change on Taiwanese mountain region, this study used GTZ (2004) Risk analysis guidelines to assess the landslide risk for 178 Taiwanese mountain towns. This study used 7 indicators to assess landslide risk, which are rainfall distribution, natural environment vulnerability (e.g., rainfall threshold criterion for debris flow, historical disaster frequency, landslide ratio, and road density), physicality vulnerability (e.g., population density) and socio-economic vulnerability (e.g., population with higher education, death rate and income). The landslide risk map can be obtained by multiplying 7 indicators together and ranking the product. The map had 5 risk ranges, and towns within the range of 4 to 5, which are high landslide risk regions, and have high priority in reducing risk. This study collected the regions with high landslide risk regions and analyzed the difference after Typhoon Morakot (2009). The spatial distribution showed that after significant environmental damage high landslide risk regions moved from central to south Taiwan. The changeable pattern of risk regions pointed out the necessity of updating the risk map periodically. Based on the landslide risk map and the land use investigation data which was provided by the National Land Surveying and Mapping Center in 2007, this study calculated the size of the land use area with landslide disaster risk. According to the above results and discussion, this study can be used to suggest appropriate land use adaptation strategies provided for reducing landslide risk under the impact of climate and environmental change.

  17. [Discussion of HIV control and prevention strategies].

    PubMed

    Lyu, P

    2016-10-06

    Expansion of HIV testing and ART treatment are core strategies for achieving the ambitious global goal of ending the HIV epidemic by the end of 2030, and achieving the "90-90-90" target by 2020. In China, great progress in HIV control and prevention has been made; however, there is room to enhance the effectiveness of HIV-related strategies. In addition, some implemented strategies have not achieved their expected output. To confront the challenge of sexual transmission of HIV, which is the main route of transmission in China, more targeted HIV prevention strategies that lead to their expected outcomes are essential. It is important to strengthen existing strategies that have been proved effective. However, it is also critical to create innovative strategies, and there are five approaches to achieve this. First, a holistic perspective should be adopted, to better understand the current situation and problems. This means intervention strategies should give serious consideration of how to meet the sociocultural needs of target populations rather than merely carry out behavioral interventions. Second, community-based HIV prevention settings should have more important roles in providing HIV-related health care services. Moreover, to improve the effectiveness of these strategies, a problem-led working style should be integrated into HIV prevention measures overall. Third, thoroughly analyzing characteristics of the current HIV epidemic using more evidence-based considerations must be undertaken, to better control HIV sexual transmission. Fourth, continued improvement of AIDS prevention and control mechanisms is needed, to ensure their sustainable development. Last, it is necessary to involve more NGOs in HIV prevention work by strengthening their management and working capacities to provide HIV-related services. Also needed is further improvement in both technical and management capacities, so as to build a stable basis for effective response.

  18. Monitoring the Performance of a Neuro-Adaptive Controller

    NASA Technical Reports Server (NTRS)

    Schumann, Johann; Gupta, Pramod

    2004-01-01

    Traditional control has proven to be ineffective to deal with catastrophic changes or slow degradation of complex, highly nonlinear systems like aircraft or spacecraft, robotics, or flexible manufacturing systems. Control systems which can adapt toward changes in the plant have been proposed as they offer many advantages (e.g., better performance, controllability of aircraft despite of a damaged wing). In the last few years, use of neural networks in adaptive controllers (neuro-adaptive control) has been studied actively. Neural networks of various architectures have been used successfully for online learning adaptive controllers. In such a typical control architecture, the neural network receives as an input the current deviation between desired and actual plant behavior and, by on-line training, tries to minimize this discrepancy (e.g.; by producing a control augmentation signal). Even though neuro-adaptive controllers offer many advantages, they have not been used in mission- or safety-critical applications, because performance and safety guarantees cannot b e provided at development time-a major prerequisite for safety certification (e.g., by the FAA or NASA). Verification and Validation (V&V) of an adaptive controller requires the development of new analysis techniques which can demonstrate that the control system behaves safely under all operating conditions. Because of the requirement to adapt toward unforeseen changes during operation, i.e., in real time, design-time V&V is not sufficient.

  19. Adaptive Fuzzy Bounded Control for Consensus of Multiple Strict-Feedback Nonlinear Systems.

    PubMed

    Wang, Wei; Tong, Shaocheng

    2017-01-10

    This paper studies the adaptive fuzzy bounded control problem for leader-follower multiagent systems, where each follower is modeled by the uncertain nonlinear strict-feedback system. Combining the fuzzy approximation with the dynamic surface control, an adaptive fuzzy control scheme is developed to guarantee the output consensus of all agents under directed communication topologies. Different from the existing results, the bounds of the control inputs are known as a priori, and they can be determined by the feedback control gains. To realize smooth and fast learning, a predictor is introduced to estimate each error surface, and the corresponding predictor error is employed to learn the optimal fuzzy parameter vector. It is proved that the developed adaptive fuzzy control scheme guarantees the uniformly ultimate boundedness of the closed-loop systems, and the tracking error converges to a small neighborhood of the origin. The simulation results and comparisons are provided to show the validity of the control strategy presented in this paper.

  20. Adaptive controller for a needle free jet-injector system.

    PubMed

    Modak, Ashin; Hogan, N Catherine; Hunter, Ian W

    2015-01-01

    A nonlinear, sliding mode adaptive controller was created for a needle-free jet injection system. The controller was based on a simplified lumped-sum parameter model of the jet-injection mechanics. The adaptive control scheme was compared to a currently-used Feed-forward+PID controller in both ejection of water into air, and injection of dye into ex-vivo porcine tissue. The adaptive controller was more successful in trajectory tracking and was more robust to the biological variations caused by a tissue load.

  1. Sense of Control and Career Adaptability among Undergraduate Students

    ERIC Educational Resources Information Center

    Duffy, Ryan D.

    2010-01-01

    The current study examined the direct relation of sense of control to career adaptability, as well as its ability to function as a mediator for other established predictors, with a sample of 1,991 undergraduate students. Students endorsing a greater sense of personal control were more likely to view themselves as adaptable to the world of work.…

  2. Strategies for improving adaptation practice in developing countries

    NASA Astrophysics Data System (ADS)

    Conway, Declan; Mustelin, Johanna

    2014-05-01

    The international community's support for adaptation in developing countries has proliferated through numerous complementary funding mechanisms. A range of serious practical issues are emerging, however, as adaptation moves from theory and international negotiation to implementation. We identify three areas deserving greater scrutiny: in-country priorities, entry points and delivery systems, and provide recommendations for improving adaptation practice. These concerns, if not addressed, have the potential to hamper attempts at effective delivery and to increase the vulnerability of intended beneficiaries of the adaptation agenda.

  3. FAB (Functionally Alert Behavior Strategies) to Improve Self-Control

    ERIC Educational Resources Information Center

    Pagano, John

    2015-01-01

    This paper describes the FAB (Functionally Alert Behavior) Strategies approach to improve behavior in children and adolescents with complex behavioral challenges. FAB Strategies include evidence-based environmental adaptations, sensory modulation, positive behavioral support, and physical self-regulation strategies. FAB Strategies can be used by…

  4. Closing the Certification Gaps in Adaptive Flight Control Software

    NASA Technical Reports Server (NTRS)

    Jacklin, Stephen A.

    2008-01-01

    Over the last five decades, extensive research has been performed to design and develop adaptive control systems for aerospace systems and other applications where the capability to change controller behavior at different operating conditions is highly desirable. Although adaptive flight control has been partially implemented through the use of gain-scheduled control, truly adaptive control systems using learning algorithms and on-line system identification methods have not seen commercial deployment. The reason is that the certification process for adaptive flight control software for use in national air space has not yet been decided. The purpose of this paper is to examine the gaps between the state-of-the-art methodologies used to certify conventional (i.e., non-adaptive) flight control system software and what will likely to be needed to satisfy FAA airworthiness requirements. These gaps include the lack of a certification plan or process guide, the need to develop verification and validation tools and methodologies to analyze adaptive controller stability and convergence, as well as the development of metrics to evaluate adaptive controller performance at off-nominal flight conditions. This paper presents the major certification gap areas, a description of the current state of the verification methodologies, and what further research efforts will likely be needed to close the gaps remaining in current certification practices. It is envisioned that closing the gap will require certain advances in simulation methods, comprehensive methods to determine learning algorithm stability and convergence rates, the development of performance metrics for adaptive controllers, the application of formal software assurance methods, the application of on-line software monitoring tools for adaptive controller health assessment, and the development of a certification case for adaptive system safety of flight.

  5. Adaptive jitter control for tracker line of sight stabilization

    NASA Astrophysics Data System (ADS)

    Gibson, Steve; Tsao, Tsu-Chin; Herrick, Dan; Beairsto, Christopher; Grimes, Ronnie; Harper, Todd; Radtke, Jeff; Roybal, Benito; Spray, Jay; Squires, Stephen; Tellez, Dave; Thurston, Michael

    2010-08-01

    A field test experiment on a range tracking telescope at the U. S. Army's White Sands Missile Range is exploring the use of recently developed adaptive control methods to minimize track loop jitter. Gimbal and platform vibration are the main sources of jitter in the experiments, although atmospheric turbulence also is a factor. In initial experiments, the adaptive controller reduced the track loop jitter significantly in frequency ranges beyond the bandwidth of the existing track loop. This paper presents some of the initial experimental results along with analysis of the performance of the adaptive control loop. The paper also describes the adaptive control scheme, its implementation on the WSMR telescope and the system identification required for adaptive control.

  6. 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.

  7. Dynamics modeling and adaptive control of flexible manipulators

    NASA Technical Reports Server (NTRS)

    Sasiadek, J. Z.

    1991-01-01

    An application of Model Reference Adaptive Control (MRAC) to the position and force control of flexible manipulators and robots is presented. A single-link flexible manipulator is analyzed. The problem was to develop a mathematical model of a flexible robot that is accurate. The objective is to show that the adaptive control works better than 'conventional' systems and is suitable for flexible structure control.

  8. 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.

  9. Direct Adaptive Control Methodologies for Flexible-Joint Space Manipulators with Uncertainties and Modeling Errors

    NASA Astrophysics Data System (ADS)

    Ulrich, Steve

    This work addresses the direct adaptive trajectory tracking control problem associated with lightweight space robotic manipulators that exhibit elastic vibrations in their joints, and which are subject to parametric uncertainties and modeling errors. Unlike existing adaptive control methodologies, the proposed flexible-joint control techniques do not require identification of unknown parameters, or mathematical models of the system to be controlled. The direct adaptive controllers developed in this work are based on the model reference adaptive control approach, and manage modeling errors and parametric uncertainties by time-varying the controller gains using new adaptation mechanisms, thereby reducing the errors between an ideal model and the actual robot system. More specifically, new decentralized adaptation mechanisms derived from the simple adaptive control technique and fuzzy logic control theory are considered in this work. Numerical simulations compare the performance of the adaptive controllers with a nonadaptive and a conventional model-based controller, in the context of 12.6 m xx 12.6 m square trajectory tracking. To validate the robustness of the controllers to modeling errors, a new dynamics formulation that includes several nonlinear effects usually neglected in flexible-joint dynamics models is proposed. Results obtained with the adaptive methodologies demonstrate an increased robustness to both uncertainties in joint stiffness coefficients and dynamics modeling errors, as well as highly improved tracking performance compared with the nonadaptive and model-based strategies. Finally, this work considers the partial state feedback problem related to flexible-joint space robotic manipulators equipped only with sensors that provide noisy measurements of motor positions and velocities. An extended Kalman filter-based estimation strategy is developed to estimate all state variables in real-time. The state estimation filter is combined with an adaptive

  10. Systems and Methods for Derivative-Free Adaptive Control

    NASA Technical Reports Server (NTRS)

    Yucelen, Tansel (Inventor); Kim, Kilsoo (Inventor); Calise, Anthony J. (Inventor)

    2015-01-01

    An adaptive control system is disclosed. The control system can control uncertain dynamic systems. The control system can employ one or more derivative-free adaptive control architectures. The control system can further employ one or more derivative-free weight update laws. The derivative-free weight update laws can comprise a time-varying estimate of an ideal vector of weights. The control system of the present invention can therefore quickly stabilize systems that undergo sudden changes in dynamics, caused by, for example, sudden changes in weight. Embodiments of the present invention can also provide a less complex control system than existing adaptive control systems. The control system can control aircraft and other dynamic systems, such as, for example, those with non-minimum phase dynamics.

  11. Multiple Model Parameter Adaptive Control for In-Flight Simulation.

    DTIC Science & Technology

    1988-03-01

    dynamics of an aircraft. The plant is control- lable by a proportional-plus-integral ( PI ) control law. This section describes two methods of calculating...adaptive model-following PI control law [20-24]. The control law bases its control gains upon the parameters of a linear difference equation model which

  12. Adaptive Instructional Strategies for Teaching Rules in Mathematics.

    ERIC Educational Resources Information Center

    Ross, Steven M.; Rakow, Ernest A.

    1982-01-01

    Describes research on an adaptation approach designed to extend the aptitude treatment interaction (ATI) concept by applying instructional variations to individuals as opposed to groups within the context of an introductory mathematics lesson adapted from the beginning module in an undergraduate statistics course. A 17-item reference list is…

  13. Management Strategies for Complex Adaptive Systems: Sensemaking, Learning, and Improvisation

    ERIC Educational Resources Information Center

    McDaniel, Reuben R., Jr.

    2007-01-01

    Misspecification of the nature of organizations may be a major reason for difficulty in achieving performance improvement. Organizations are often viewed as machine-like, but complexity science suggests that organizations should be viewed as complex adaptive systems. I identify the characteristics of complex adaptive systems and give examples of…

  14. 77 FR 2996 - National Fish, Wildlife, and Plants Climate Adaptation Strategy

    Federal Register 2010, 2011, 2012, 2013, 2014

    2012-01-20

    ... natural systems provide, in a changing climate. In addition to this request for written comments, several..., Wildlife, and Plants Climate Adaptation Strategy (Strategy). The adverse impacts of climate change... wildlife and society against the effects of climate change. When finalized, this draft Strategy...

  15. Turnaround Management Strategies: The Adaptive Model and the Constructive Model. ASHE 1983 Annual Meeting Paper.

    ERIC Educational Resources Information Center

    Chaffee, Ellen E.

    The use of two management strategies by 14 liberal arts and comprehensive colleges attempting to recover from serious financial decline during 1973-1976 were studied. The adaptive model of strategy, based on resource dependence, involves managing demands in order to satisfy critical-resource providers. The constructive model of strategy, based on…

  16. The influence of context on the implementation of adaptive emotion regulation strategies.

    PubMed

    Aldao, Amelia; Nolen-Hoeksema, Susan

    2012-08-01

    Putatively adaptive emotion regulation strategies (e.g., acceptance, problem solving, reappraisal) show weaker associations with psychopathology than putatively maladaptive strategies (e.g., avoidance, self-criticism, hiding expression, suppression of experience, worry, rumination). This is puzzling, given the central role that adaptive strategies play in a wide range of psychotherapeutic approaches. We explored this asymmetry by examining the effects of context (i.e., emotion intensity, type of emotion, social vs. academic circumstances) on the implementation of adaptive and maladaptive strategies. We asked 111 participants to describe 8 emotion-eliciting situations and identify which strategies they used in order to regulate their affect. We found support for a contextual model of emotion regulation, in which adaptive strategies were implemented with more cross-situational variability than maladaptive strategies. In addition, the variability in implementation of two adaptive strategies (acceptance, problem solving) predicted lower levels of psychopathology, suggesting that flexible implementation of such strategies in line with contextual demands is associated with better mental health. We discuss these findings by underscoring the importance of adopting a functional approach to the delineation of contextual factors that influence the implementation of emotion regulation strategies.

  17. Parameter testing for lattice filter based adaptive modal control systems

    NASA Technical Reports Server (NTRS)

    Sundararajan, N.; Williams, J. P.; Montgomery, R. C.

    1983-01-01

    For Large Space Structures (LSS), an adaptive control system is highly desirable. The present investigation is concerned with an 'indirect' adaptive control scheme wherein the system order, mode shapes, and modal amplitudes are estimated on-line using an identification scheme based on recursive, least-squares, lattice filters. Using the identified model parameters, a modal control law based on a pole-placement scheme with the objective of vibration suppression is employed. A method is presented for closed loop adaptive control of a flexible free-free beam. The adaptive control scheme consists of a two stage identification scheme working in series and a modal pole placement control scheme. The main conclusion from the current study is that the identified parameters cannot be directly used for controller design purposes.

  18. Leaf Area Adjustment As an Optimal Drought-Adaptation Strategy

    NASA Astrophysics Data System (ADS)

    Manzoni, S.; Beyer, F.; Thompson, S. E.; Vico, G.; Weih, M.

    2014-12-01

    Leaf phenology plays a major role in land-atmosphere mass and energy exchanges. Much work has focused on phenological responses to light and temperature, but less to leaf area changes during dry periods. Because the duration of droughts is expected to increase under future climates in seasonally-dry as well as mesic environments, it is crucial to (i) predict drought-related phenological changes and (ii) to develop physiologically-sound models of leaf area dynamics during dry periods. Several optimization criteria have been proposed to model leaf area adjustment as soil moisture decreases. Some theories are based on the plant carbon (C) balance, hypothesizing that leaf area will decline when instantaneous net photosynthetic rates become negative (equivalent to maximization of cumulative C gain). Other theories draw on hydraulic principles, suggesting that leaf area should adjust to either maintain a constant leaf water potential (isohydric behavior) or to avoid leaf water potentials with negative impacts on photosynthesis (i.e., minimization of water stress). Evergreen leaf phenology is considered as a control case. Merging these theories into a unified framework, we quantify the effect of phenological strategy and climate forcing on the net C gain over the entire growing season. By accounting for the C costs of leaf flushing and the gains stemming from leaf photosynthesis, this metric assesses the effectiveness of different phenological strategies, under different climatic scenarios. Evergreen species are favored only when the dry period is relatively short, as they can exploit most of the growing season, and only incur leaf maintenance costs during the short dry period. In contrast, deciduous species that lower maintenance costs by losing leaves are advantaged under drier climates. Moreover, among drought-deciduous species, isohydric behavior leads to lowest C gains. Losing leaves gradually so as to maintain a net C uptake equal to zero during the driest period in

  19. An averaging analysis of discrete-time indirect adaptive control

    NASA Technical Reports Server (NTRS)

    Phillips, Stephen M.; Kosut, Robert L.; Franklin, Gene F.

    1988-01-01

    An averaging analysis of indirect, discrete-time, adaptive control systems is presented. The analysis results in a signal-dependent stability condition and accounts for unmodeled plant dynamics as well as exogenous disturbances. This analysis is applied to two discrete-time adaptive algorithms: an unnormalized gradient algorithm and a recursive least-squares (RLS) algorithm with resetting. Since linearization and averaging are used for the gradient analysis, a local stability result valid for small adaptation gains is found. For RLS with resetting, the assumption is that there is a long time between resets. The results for the two algorithms are virtually identical, emphasizing their similarities in adaptive control.

  20. Advanced control strategies for fluidized bed dryers

    SciTech Connect

    Siettos, C.I.; Kiranoudis, C.T.; Bafas, G.V.

    1999-11-01

    Generating the best possible control strategy comprises a necessity for industrial processes, by virtue of product quality, cost reduction and design simplicity. Three different control approaches, namely an Input-Output linearizing, a fuzzy logic and a PID controller, are evaluated for the control of a fluidized bed dryer, a typical non-linear drying process of wide applicability. Based on several closed loop characteristics such as settling times, maximum overshoots and dynamic performance criteria such as IAE, ISE and ITAE, it is shown that the Input-Output linearizing and the fuzzy logic controller exhibit a better performance compared to the PID controller tuned optimally with respect to IAE, for a wide range of disturbances; yet, the relevant advantage of the fuzzy logic over the conventional nonlinear controller issues upon its design simplicity. Typical load rejection and set-point tracking examples are given to illustrate the effectiveness of the proposed approach.

  1. Global adaptive control for uncertain nonaffine nonlinear hysteretic systems.

    PubMed

    Liu, Yong-Hua; Huang, Liangpei; Xiao, Dongming; Guo, Yong

    2015-09-01

    In this paper, the global output tracking is investigated for a class of uncertain nonlinear hysteretic systems with nonaffine structures. By combining the solution properties of the hysteresis model with the novel backstepping approach, a robust adaptive control algorithm is developed without constructing a hysteresis inverse. The proposed control scheme is further modified to tackle the bounded disturbances by adaptively estimating their bounds. It is rigorously proven that the designed adaptive controllers can guarantee global stability of the closed-loop system. Two numerical examples are provided to show the effectiveness of the proposed control schemes.

  2. State of the art in adaptive control of robotic systems

    NASA Technical Reports Server (NTRS)

    Tosunoglu, Sabri; Tesar, Delbert

    1988-01-01

    An up-to-date assessment of adaptive control technology as applied to robotics is presented. Although the field is relatively new and does not yet represent a mature discipline, considerable attention for the design of sophisticated robot controllers has occured. In this presentation, adaptive control methods are divided into model reference adaptive systems and self-tuning regulators, with further definition of various approaches given in each class. The similarity and distinct features of the designed controllers are delineated and tabulated to enhance comparative review.

  3. A robust adaptive nonlinear fault-tolerant controller via norm estimation for reusable launch vehicles

    NASA Astrophysics Data System (ADS)

    Hu, Chaofang; Gao, Zhifei; Ren, Yanli; Liu, Yunbing

    2016-11-01

    In this paper, a reusable launch vehicle (RLV) attitude control problem with actuator faults is addressed via the robust adaptive nonlinear fault-tolerant control (FTC) with norm estimation. Firstly, the accurate tracking task of attitude angles in the presence of parameter uncertainties and external disturbances is considered. A fault-free controller is proposed using dynamic surface control (DSC) combined with fuzzy adaptive approach. Furthermore, the minimal learning parameter strategy via norm estimation technique is introduced to reduce the multi-parameter adaptive computation burden of fuzzy approximation of the lump uncertainties. Secondly, a compensation controller is designed to handle the partial loss fault of actuator effectiveness. The unknown maximum eigenvalue of actuator efficiency loss factors is estimated online. Moreover, stability analysis guarantees that all signals of the closed-loop control system are semi-global uniformly ultimately bounded. Finally, illustrative simulations show the effectiveness of the proposed method.

  4. Projection Operator: A Step Towards Certification of Adaptive Controllers

    NASA Technical Reports Server (NTRS)

    Larchev, Gregory V.; Campbell, Stefan F.; Kaneshige, John T.

    2010-01-01

    One of the major barriers to wider use of adaptive controllers in commercial aviation is the lack of appropriate certification procedures. In order to be certified by the Federal Aviation Administration (FAA), an aircraft controller is expected to meet a set of guidelines on functionality and reliability while not negatively impacting other systems or safety of aircraft operations. Due to their inherent time-variant and non-linear behavior, adaptive controllers cannot be certified via the metrics used for linear conventional controllers, such as gain and phase margin. Projection Operator is a robustness augmentation technique that bounds the output of a non-linear adaptive controller while conforming to the Lyapunov stability rules. It can also be used to limit the control authority of the adaptive component so that the said control authority can be arbitrarily close to that of a linear controller. In this paper we will present the results of applying the Projection Operator to a Model-Reference Adaptive Controller (MRAC), varying the amount of control authority, and comparing controller s performance and stability characteristics with those of a linear controller. We will also show how adjusting Projection Operator parameters can make it easier for the controller to satisfy the certification guidelines by enabling a tradeoff between controller s performance and robustness.

  5. A Pollution Control Strategy Game: Costs of Control Policies.

    ERIC Educational Resources Information Center

    Bierma, Thomas J.; Walbert, Mark S.

    1987-01-01

    Describes an interactive classroom game designed to enhance student understanding of air pollution control strategies. Discusses the game's focus on the differences in compliance costs that can occur between the three principal control approaches of emission limits, emission permits, and emission taxes. (TW)

  6. Adaptive P300 based control system

    PubMed Central

    Jin, Jing; Allison, Brendan Z.; Sellers, Eric W.; Brunner, Clemens; Horki, Petar; Wang, Xingyu; Neuper, Christa

    2015-01-01

    An adaptive P300 brain-computer interface (BCI) using a 12 × 7 matrix explored new paradigms to improve bit rate and accuracy. During online use, the system adaptively selects the number of flashes to average. Five different flash patterns were tested. The 19-flash paradigm represents the typical row/column presentation (i.e., 12 columns and 7 rows). The 9- and 14-flash A & B paradigms present all items of the 12 × 7 matrix three times using either nine or 14 flashes (instead of 19), decreasing the amount of time to present stimuli. Compared to 9-flash A, 9-flash B decreased the likelihood that neighboring items would flash when the target was not flashing, thereby reducing interference from items adjacent to targets. 14-flash A also reduced adjacent item interference and 14-flash B additionally eliminated successive (double) flashes of the same item. Results showed that accuracy and bit rate of the adaptive system were higher than the non-adaptive system. In addition, 9- and 14-flash B produced significantly higher performance than their respective A conditions. The results also show the trend that the 14-flash B paradigm was better than the 19-flash pattern for naïve users. PMID:21474877

  7. Hormesis and adaptive cellular control systems

    EPA Science Inventory

    Hormetic dose response occurs for many endpoints associated with exposures of biological organisms to environmental stressors. Cell-based U- or inverted U-shaped responses may derive from common processes involved in activation of adaptive responses required to protect cells from...

  8. Situational Strategies for Self-Control.

    PubMed

    Duckworth, Angela L; Gendler, Tamar Szabó; Gross, James J

    2016-01-01

    Exercising self-control is often difficult, whether declining a drink in order to drive home safely, passing on the chocolate cake to stay on a diet, or ignoring text messages to finish reading an important paper. But enacting self-control is not always difficult, particularly when it takes the form of proactively choosing or changing situations in ways that weaken undesirable impulses or potentiate desirable ones. Examples of situational self-control include the partygoer who chooses a seat far from where drinks are being poured, the dieter who asks the waiter not to bring around the dessert cart, and the student who goes to the library without a cell phone. Using the process model of self-control, we argue that the full range of self-control strategies can be organized by considering the timeline of the developing tempting impulse. Because impulses tend to grow stronger over time, situational self-control strategies-which can nip a tempting impulse in the bud-may be especially effective in preventing undesirable action. Ironically, we may underappreciate situational self-control for the same reason it is so effective-namely, that by manipulating our circumstances to advantage, we are often able to minimize the in-the-moment experience of intrapsychic struggle typically associated with exercising self-control.

  9. Complete synchronization of uncertain chaotic systems via a single proportional adaptive controller: A comparative study

    SciTech Connect

    Ahmad, Israr Saaban, Azizan Bin Ibrahim, Adyda Binti; Shahzad, Mohammad

    2015-12-11

    This paper addresses a comparative computational study on the synchronization quality, cost and converging speed for two pairs of identical chaotic and hyperchaotic systems with unknown time-varying parameters. It is assumed that the unknown time-varying parameters are bounded. Based on the Lyapunov stability theory and using the adaptive control method, a single proportional controller is proposed to achieve the goal of complete synchronizations. Accordingly, appropriate adaptive laws are designed to identify the unknown time-varying parameters. The designed control strategy is easy to implement in practice. Numerical simulations results are provided to verify the effectiveness of the proposed synchronization scheme.

  10. Adaptive Fuzzy Control of a Direct Drive Motor

    NASA Technical Reports Server (NTRS)

    Medina, E.; Kim, Y. T.; Akbaradeh-T., M. -R.

    1997-01-01

    This paper presents a state feedback adaptive control method for position and velocity control of a direct drive motor. The proposed control scheme allows for integrating heuristic knowledge with mathematical knowledge of a system. It performs well even when mathematical model of the system is poorly understood. The controller consists of an adaptive fuzzy controller and a supervisory controller. The supervisory controller requires only knowledge of the upper bound and lower bound of the system parameters. The fuzzy controller is based on fuzzy basis functions and states of the system. The adaptation law is derived based on the Lyapunov function which ensures that the state of the system asymptotically approaches zero. The proposed controller is applied to a direct drive motor with payload and parameter uncertainty, and the effectiveness is verified by simulation results.

  11. An adaptive control scheme for a flexible manipulator

    NASA Technical Reports Server (NTRS)

    Yang, T. C.; Yang, J. C. S.; Kudva, P.

    1987-01-01

    The problem of controlling a single link flexible manipulator is considered. A self-tuning adaptive control scheme is proposed which consists of a least squares on-line parameter identification of an equivalent linear model followed by a tuning of the gains of a pole placement controller using the parameter estimates. Since the initial parameter values for this model are assumed unknown, the use of arbitrarily chosen initial parameter estimates in the adaptive controller would result in undesirable transient effects. Hence, the initial stage control is carried out with a PID controller. Once the identified parameters have converged, control is transferred to the adaptive controller. Naturally, the relevant issues in this scheme are tests for parameter convergence and minimization of overshoots during control switch-over. To demonstrate the effectiveness of the proposed scheme, simulation results are presented with an analytical nonlinear dynamic model of a single link flexible manipulator.

  12. Adaptive Flight Control Design with Optimal Control Modification on an F-18 Aircraft Model

    NASA Technical Reports Server (NTRS)

    Burken, John J.; Nguyen, Nhan T.; Griffin, Brian J.

    2010-01-01

    In the presence of large uncertainties, a control system needs to be able to adapt rapidly to regain performance. Fast adaptation is referred to as the implementation of adaptive control with a large adaptive gain to reduce the tracking error rapidly; however, a large adaptive gain can lead to high-frequency oscillations which can adversely affect the robustness of an adaptive control law. A new adaptive control modification is presented that can achieve robust adaptation with a large adaptive gain without incurring high-frequency oscillations as with the standard model-reference adaptive control. The modification is based on the minimization of the Y2 norm of the tracking error, which is formulated as an optimal control problem. The optimality condition is used to derive the modification using the gradient method. The optimal control modification results in a stable adaptation and allows a large adaptive gain to be used for better tracking while providing sufficient robustness. A damping term (v) is added in the modification to increase damping as needed. Simulations were conducted on a damaged F-18 aircraft (McDonnell Douglas, now The Boeing Company, Chicago, Illinois) with both the standard baseline dynamic inversion controller and the adaptive optimal control modification technique. The results demonstrate the effectiveness of the proposed modification in tracking a reference model.

  13. Stabilizing Spatially-Structured Populations through Adaptive Limiter Control

    PubMed Central

    Sah, Pratha; Dey, Sutirth

    2014-01-01

    Stabilizing the dynamics of complex, non-linear systems is a major concern across several scientific disciplines including ecology and conservation biology. Unfortunately, most methods proposed to reduce the fluctuations in chaotic systems are not applicable to real, biological populations. This is because such methods typically require detailed knowledge of system specific parameters and the ability to manipulate them in real time; conditions often not met by most real populations. Moreover, real populations are often noisy and extinction-prone, which can sometimes render such methods ineffective. Here, we investigate a control strategy, which works by perturbing the population size, and is robust to reasonable amounts of noise and extinction probability. This strategy, called the Adaptive Limiter Control (ALC), has been previously shown to increase constancy and persistence of laboratory populations and metapopulations of Drosophila melanogaster. Here, we present a detailed numerical investigation of the effects of ALC on the fluctuations and persistence of metapopulations. We show that at high migration rates, application of ALC does not require a priori information about the population growth rates. We also show that ALC can stabilize metapopulations even when applied to as low as one-tenth of the total number of subpopulations. Moreover, ALC is effective even when the subpopulations have high extinction rates: conditions under which another control algorithm had previously failed to attain stability. Importantly, ALC not only reduces the fluctuation in metapopulation sizes, but also the global extinction probability. Finally, the method is robust to moderate levels of noise in the dynamics and the carrying capacity of the environment. These results, coupled with our earlier empirical findings, establish ALC to be a strong candidate for stabilizing real biological metapopulations. PMID:25153073

  14. Design of Low Complexity Model Reference Adaptive Controllers

    NASA Technical Reports Server (NTRS)

    Hanson, Curt; Schaefer, Jacob; Johnson, Marcus; Nguyen, Nhan

    2012-01-01

    Flight research experiments have demonstrated that adaptive flight controls can be an effective technology for improving aircraft safety in the event of failures or damage. However, the nonlinear, timevarying nature of adaptive algorithms continues to challenge traditional methods for the verification and validation testing of safety-critical flight control systems. Increasingly complex adaptive control theories and designs are emerging, but only make testing challenges more difficult. A potential first step toward the acceptance of adaptive flight controllers by aircraft manufacturers, operators, and certification authorities is a very simple design that operates as an augmentation to a non-adaptive baseline controller. Three such controllers were developed as part of a National Aeronautics and Space Administration flight research experiment to determine the appropriate level of complexity required to restore acceptable handling qualities to an aircraft that has suffered failures or damage. The controllers consist of the same basic design, but incorporate incrementally-increasing levels of complexity. Derivations of the controllers and their adaptive parameter update laws are presented along with details of the controllers implementations.

  15. Discrete-time adaptive control of robot manipulators

    NASA Technical Reports Server (NTRS)

    Tarokh, M.

    1989-01-01

    A discrete-time model reference adaptive control scheme is developed for trajectory tracking of robot manipulators. Hyperstability theory is utilized to derive the adaptation laws for the controller gain matrices. It is shown that asymptotic trajectory tracking is achieved despite gross robot parameter variation and uncertainties. The method offers considerable design flexibility and enables the designer to improve the performance of the control system by adjusting free design parameters. The discrete-time adaptation algorithm is extremely simple and is therefore suitable for real-time implementation.

  16. Adaptive Force And Position Control For Robots

    NASA Technical Reports Server (NTRS)

    Seraji, Homayoun

    1989-01-01

    Control system causes end effector of robot manipulator to follow prescribed trajectory and applies desired force or torque to object manipulating or in contact. Characterized by hybrid control architecture, where positions and orientations along unconstrained coordinate axes controlled by position-control subsystem, while forces and torques along constrained coordinate axes controlled by force-control subsystem. Compensates for dynamic cross-coupling between force-and position-control loops and does not require knowledge of complicated model of dynamics of manipulator and environment.

  17. Identification and dual adaptive control of a turbojet engine

    NASA Technical Reports Server (NTRS)

    Merrill, W.; Leininger, G.

    1979-01-01

    The objective of this paper is to utilize the design methods of modern control theory to realize a dual-adaptive feedback control unit for a highly nonlinear single spool airbreathing turbojet engine. Using a very detailed and accurate simulation of the nonlinear engine as the data source, linear operating point models of unspecified dimension are identified. Feedback control laws are designed at each operating point for a prespecified set of sampling rates using sampled-data output regulator theory. The control system sampling rate is determined by an adaptive sampling algorithm in correspondence with turbojet engine performance. The result is a dual-adaptive control law that is functionally dependent upon the sampling rate selected and environmental operating conditions. Simulation transients demonstrate the utility of the dual-adaptive design to improve on-board computer utilization while maintaining acceptable levels of engine performance.

  18. Disturbance Accommodating Adaptive Control with Application to Wind Turbines

    NASA Technical Reports Server (NTRS)

    Frost, Susan

    2012-01-01

    Adaptive control techniques are well suited to applications that have unknown modeling parameters and poorly known operating conditions. Many physical systems experience external disturbances that are persistent or continually recurring. Flexible structures and systems with compliance between components often form a class of systems that fail to meet standard requirements for adaptive control. For these classes of systems, a residual mode filter can restore the ability of the adaptive controller to perform in a stable manner. New theory will be presented that enables adaptive control with accommodation of persistent disturbances using residual mode filters. After a short introduction to some of the control challenges of large utility-scale wind turbines, this theory will be applied to a high-fidelity simulation of a wind turbine.

  19. Parameter Estimation for a Hybrid Adaptive Flight Controller

    NASA Technical Reports Server (NTRS)

    Campbell, Stefan F.; Nguyen, Nhan T.; Kaneshige, John; Krishnakumar, Kalmanje

    2009-01-01

    This paper expands on the hybrid control architecture developed at the NASA Ames Research Center by addressing issues related to indirect adaptation using the recursive least squares (RLS) algorithm. Specifically, the hybrid control architecture is an adaptive flight controller that features both direct and indirect adaptation techniques. This paper will focus almost exclusively on the modifications necessary to achieve quality indirect adaptive control. Additionally this paper will present results that, using a full non -linear aircraft model, demonstrate the effectiveness of the hybrid control architecture given drastic changes in an aircraft s dynamics. Throughout the development of this topic, a thorough discussion of the RLS algorithm as a system identification technique will be provided along with results from seven well-known modifications to the popular RLS algorithm.

  20. Adaptive integral robust control and application to electromechanical servo systems.

    PubMed

    Deng, Wenxiang; Yao, Jianyong

    2017-03-01

    This paper proposes a continuous adaptive integral robust control with robust integral of the sign of the error (RISE) feedback for a class of uncertain nonlinear systems, in which the RISE feedback gain is adapted online to ensure the robustness against disturbances without the prior bound knowledge of the additive disturbances. In addition, an adaptive compensation integrated with the proposed adaptive RISE feedback term is also constructed to further reduce design conservatism when the system also exists parametric uncertainties. Lyapunov analysis reveals the proposed controllers could guarantee the tracking errors are asymptotically converging to zero with continuous control efforts. To illustrate the high performance nature of the developed controllers, numerical simulations are provided. At the end, an application case of an actual electromechanical servo system driven by motor is also studied, with some specific design consideration, and comparative experimental results are obtained to verify the effectiveness of the proposed controllers.

  1. Adaptive optimization and control using neural networks

    SciTech Connect

    Mead, W.C.; Brown, S.K.; Jones, R.D.; Bowling, P.S.; Barnes, C.W.

    1993-10-22

    Recent work has demonstrated the ability of neural-network-based controllers to optimize and control machines with complex, non-linear, relatively unknown control spaces. We present a brief overview of neural networks via a taxonomy illustrating some capabilities of different kinds of neural networks. We present some successful control examples, particularly the optimization and control of a small-angle negative ion source.

  2. Dynamics and Adaptive Control for Stability Recovery of Damaged Aircraft

    NASA Technical Reports Server (NTRS)

    Nguyen, Nhan; Krishnakumar, Kalmanje; Kaneshige, John; Nespeca, Pascal

    2006-01-01

    This paper presents a recent study of a damaged generic transport model as part of a NASA research project to investigate adaptive control methods for stability recovery of damaged aircraft operating in off-nominal flight conditions under damage and or failures. Aerodynamic modeling of damage effects is performed using an aerodynamic code to assess changes in the stability and control derivatives of a generic transport aircraft. Certain types of damage such as damage to one of the wings or horizontal stabilizers can cause the aircraft to become asymmetric, thus resulting in a coupling between the longitudinal and lateral motions. Flight dynamics for a general asymmetric aircraft is derived to account for changes in the center of gravity that can compromise the stability of the damaged aircraft. An iterative trim analysis for the translational motion is developed to refine the trim procedure by accounting for the effects of the control surface deflection. A hybrid direct-indirect neural network, adaptive flight control is proposed as an adaptive law for stabilizing the rotational motion of the damaged aircraft. The indirect adaptation is designed to estimate the plant dynamics of the damaged aircraft in conjunction with the direct adaptation that computes the control augmentation. Two approaches are presented 1) an adaptive law derived from the Lyapunov stability theory to ensure that the signals are bounded, and 2) a recursive least-square method for parameter identification. A hardware-in-the-loop simulation is conducted and demonstrates the effectiveness of the direct neural network adaptive flight control in the stability recovery of the damaged aircraft. A preliminary simulation of the hybrid adaptive flight control has been performed and initial data have shown the effectiveness of the proposed hybrid approach. Future work will include further investigations and high-fidelity simulations of the proposed hybrid adaptive Bight control approach.

  3. Adaptive tracking control for a class of uncertain chaotic systems

    NASA Astrophysics Data System (ADS)

    Chen, Feng-Xiang; Wang, Wei; Zhang, Wei-Dong

    2007-09-01

    The paper is concerned with adaptive tracking problem for a class of chaotic system with time-varying uncertainty, but bounded by norm polynomial. Based on adaptive technique, it proposes a novel controller to asymptotically track the arbitrary desired bounded trajectory. Simulation on the Rossler chaotic system is performed and the result verifies the effectiveness of the proposed method.

  4. Night ventilation control strategies in office buildings

    SciTech Connect

    Wang, Zhaojun; Yi, Lingli; Gao, Fusheng

    2009-10-15

    In moderate climates night ventilation is an effective and energy-efficient approach to improve the indoor thermal environment for office buildings during the summer months, especially for heavyweight construction. However, is night ventilation a suitable strategy for office buildings with lightweight construction located in cold climates? In order to answer this question, the whole energy-consumption analysis software EnergyPlus was used to simulate the indoor thermal environment and energy consumption in typical office buildings with night mechanical ventilation in three cities in northern China. The summer outdoor climate data was analyzed, and three typical design days were chosen. The most important factors influencing night ventilation performance such as ventilation rates, ventilation duration, building mass and climatic conditions were evaluated. When night ventilation operation time is closer to active cooling time, the efficiency of night ventilation is higher. With night ventilation rate of 10 ach, the mean radiant temperature of the indoor surface decreased by up to 3.9 C. The longer the duration of operation, the more efficient the night ventilation strategy becomes. The control strategies for three locations are given in the paper. Based on the optimized strategies, the operation consumption and fees are calculated. The results show that more energy is saved in office buildings cooled by a night ventilation system in northern China than ones that do not employ this strategy. (author)

  5. Stability and Performance Metrics for Adaptive Flight Control

    NASA Technical Reports Server (NTRS)

    Stepanyan, Vahram; Krishnakumar, Kalmanje; Nguyen, Nhan; VanEykeren, Luarens

    2009-01-01

    This paper addresses the problem of verifying adaptive control techniques for enabling safe flight in the presence of adverse conditions. Since the adaptive systems are non-linear by design, the existing control verification metrics are not applicable to adaptive controllers. Moreover, these systems are in general highly uncertain. Hence, the system's characteristics cannot be evaluated by relying on the available dynamical models. This necessitates the development of control verification metrics based on the system's input-output information. For this point of view, a set of metrics is introduced that compares the uncertain aircraft's input-output behavior under the action of an adaptive controller to that of a closed-loop linear reference model to be followed by the aircraft. This reference model is constructed for each specific maneuver using the exact aerodynamic and mass properties of the aircraft to meet the stability and performance requirements commonly accepted in flight control. The proposed metrics are unified in the sense that they are model independent and not restricted to any specific adaptive control methods. As an example, we present simulation results for a wing damaged generic transport aircraft with several existing adaptive controllers.

  6. When Easy Comes Hard: The Development of Adaptive Strategy Selection

    ERIC Educational Resources Information Center

    Mata, Rui; von Helversen, Bettina; Rieskamp, Jorg

    2011-01-01

    Can children learn to select the right strategy for a given problem? In one experiment, 9- to 10-year-olds (N = 50), 11- to 12-year-olds (N = 50), and adults (N = 50) made probabilistic inferences. Participants encountered environments favoring either an information-intensive strategy that integrates all available information or an…

  7. L1 adaptive output-feedback control architectures

    NASA Astrophysics Data System (ADS)

    Kharisov, Evgeny

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

  8. Robust adaptive backstepping neural networks control for spacecraft rendezvous and docking with input saturation.

    PubMed

    Xia, Kewei; Huo, Wei

    2016-05-01

    This paper presents a robust adaptive neural networks control strategy for spacecraft rendezvous and docking with the coupled position and attitude dynamics under input saturation. Backstepping technique is applied to design a relative attitude controller and a relative position controller, respectively. The dynamics uncertainties are approximated by radial basis function neural networks (RBFNNs). A novel switching controller consists of an adaptive neural networks controller dominating in its active region combined with an extra robust controller to avoid invalidation of the RBFNNs destroying stability of the system outside the neural active region. An auxiliary signal is introduced to compensate the input saturation with anti-windup technique, and a command filter is employed to approximate derivative of the virtual control in the backstepping procedure. Globally uniformly ultimately bounded of the relative states is proved via Lyapunov theory. Simulation example demonstrates effectiveness of the proposed control scheme.

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

    NASA Technical Reports Server (NTRS)

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

    1992-01-01

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

  10. Investigation of energy management strategies for photovoltaic systems - A predictive control algorithm

    NASA Technical Reports Server (NTRS)

    Cull, R. C.; Eltimsahy, A. H.

    1983-01-01

    The present investigation is concerned with the formulation of energy management strategies for stand-alone photovoltaic (PV) systems, taking into account a basic control algorithm for a possible predictive, (and adaptive) controller. The control system controls the flow of energy in the system according to the amount of energy available, and predicts the appropriate control set-points based on the energy (insolation) available by using an appropriate system model. Aspects of adaptation to the conditions of the system are also considered. Attention is given to a statistical analysis technique, the analysis inputs, the analysis procedure, and details regarding the basic control algorithm.

  11. Adaptive Importance Sampling for Control and Inference

    NASA Astrophysics Data System (ADS)

    Kappen, H. J.; Ruiz, H. C.

    2016-03-01

    Path integral (PI) control problems are a restricted class of non-linear control problems that can be solved formally as a Feynman-Kac PI and can be estimated using Monte Carlo sampling. In this contribution we review PI control theory in the finite horizon case. We subsequently focus on the problem how to compute and represent control solutions. We review the most commonly used methods in robotics and control. Within the PI theory, the question of how to compute becomes the question of importance sampling. Efficient importance samplers are state feedback controllers and the use of these requires an efficient representation. Learning and representing effective state-feedback controllers for non-linear stochastic control problems is a very challenging, and largely unsolved, problem. We show how to learn and represent such controllers using ideas from the cross entropy method. We derive a gradient descent method that allows to learn feed-back controllers using an arbitrary parametrisation. We refer to this method as the path integral cross entropy method or PICE. We illustrate this method for some simple examples. The PI control methods can be used to estimate the posterior distribution in latent state models. In neuroscience these problems arise when estimating connectivity from neural recording data using EM. We demonstrate the PI control method as an accurate alternative to particle filtering.

  12. Competition and time-dependent behavior in spatial iterated prisoner’s dilemma incorporating adaptive zero-determinant strategies

    NASA Astrophysics Data System (ADS)

    Li, Yong; Xu, Chen; Liu, Jie; Hui, Pak Ming

    2016-10-01

    We propose and study the competitiveness of a class of adaptive zero-determinant strategies (ZDSs) in a population with spatial structure against four classic strategies in iterated prisoner’s dilemma. Besides strategy updating via a probabilistic mechanism by imitating the strategy of a better performing opponent, players using the ZDSs can also adapt their strategies to take advantage of their local competing environment with another probability. The adapted ZDSs could be extortionate-like to avoid being continually cheated by defectors or to take advantage of unconditional cooperators. The adapted ZDSs could also be a compliance strategy so as to cooperate with the conditionally cooperative players. This flexibility makes adaptive ZDSs more competitive than nonadaptive ZDSs. Results show that adaptive ZDSs can either dominate over other strategies or at least coexist with them when the ZDSs are allowed to adapt more readily than to imitate other strategies. The effectiveness of the adaptive ZDSs relies on how fast they can adapt to the competing environment before they are replaced by other strategies. The adaptive ZDSs generally work well as they could adapt gradually and make use of other strategies for suppressing their enemies. When adaptation happens more readily than imitation for the ZDSs, they outperform other strategies over a wide range of cost-to-benefit ratios.

  13. Novel Hybrid Adaptive Controller for Manipulation in Complex Perturbation Environments

    PubMed Central

    Smith, Alex M. C.; Yang, Chenguang; Ma, Hongbin; Culverhouse, Phil; Cangelosi, Angelo; Burdet, Etienne

    2015-01-01

    In this paper we present a hybrid control scheme, combining the advantages of task-space and joint-space control. The controller is based on a human-like adaptive design, which minimises both control effort and tracking error. Our novel hybrid adaptive controller has been tested in extensive simulations, in a scenario where a Baxter robot manipulator is affected by external disturbances in the form of interaction with the environment and tool-like end-effector perturbations. The results demonstrated improved performance in the hybrid controller over both of its component parts. In addition, we introduce a novel method for online adaptation of learning parameters, using the fuzzy control formalism to utilise expert knowledge from the experimenter. This mechanism of meta-learning induces further improvement in performance and avoids the need for tuning through trial testing. PMID:26029916

  14. Adaptive filter design using recurrent cerebellar model articulation controller.

    PubMed

    Lin, Chih-Min; Chen, Li-Yang; Yeung, Daniel S

    2010-07-01

    A novel adaptive filter is proposed using a recurrent cerebellar-model-articulation-controller (CMAC). The proposed locally recurrent globally feedforward recurrent CMAC (RCMAC) has favorable properties of small size, good generalization, rapid learning, and dynamic response, thus it is more suitable for high-speed signal processing. To provide fast training, an efficient parameter learning algorithm based on the normalized gradient descent method is presented, in which the learning rates are on-line adapted. Then the Lyapunov function is utilized to derive the conditions of the adaptive learning rates, so the stability of the filtering error can be guaranteed. To demonstrate the performance of the proposed adaptive RCMAC filter, it is applied to a nonlinear channel equalization system and an adaptive noise cancelation system. The advantages of the proposed filter over other adaptive filters are verified through simulations.

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

    NASA Technical Reports Server (NTRS)

    Nguyen, Nhan T.

    2012-01-01

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

  16. Adaptive Wavefront Calibration and Control for the Gemini Planet Imager

    SciTech Connect

    Poyneer, L A; Veran, J

    2007-02-02

    Quasi-static errors in the science leg and internal AO flexure will be corrected. Wavefront control will adapt to current atmospheric conditions through Fourier modal gain optimization, or the prediction of atmospheric layers with Kalman filtering.

  17. Digital adaptive controllers for VTOL vehicles. Volume 1: Concept evaluation

    NASA Technical Reports Server (NTRS)

    Hartmann, G. L.; Stein, G.; Pratt, S. G.

    1979-01-01

    A digital self-adaptive flight control system was developed for flight test in the VTOL approach and landing technology (VALT) research aircraft (a modified CH-47 helicopter). The control laws accept commands from an automatic on-board guidance system. The primary objective of the control laws is to provide good command-following with a minimum cross-axis response. Three attitudes and vertical velocity are separately commanded. Adaptation of the control laws is based on information from rate and attitude gyros and a vertical velocity measurement. The final design resulted from a comparison of two different adaptive concepts--one based on explicit parameter estimates from a real-time maximum-likelihood estimation algorithm, the other based on an implicit model reference adaptive system. The two designs were compared on the basis of performance and complexity.

  18. A geometric view of adaptive optics control: boiling atmosphere model

    NASA Astrophysics Data System (ADS)

    Wiberg, Donald M.; Max, Claire E.; Gavel, Donald T.

    2004-10-01

    The separation principle of optimal adaptive optics control is derived, and definitions of controllability and observability are introduced. An exact finite dimensional state space representation of the control system dynamics is obtained without the need for truncation in modes such as Zernikes. The uncertainty of sensing uncontrollable modes confuses present adaptive optics controllers. This uncertainty can be modeled by a Kalman filter. Reducing this uncertainty permits increased gain, increasing the Strehl, which is done by an optimal control law derived here. A general model of the atmosphere is considered, including boiling.

  19. Adaptive hybrid position/force control of robotic manipulators

    NASA Technical Reports Server (NTRS)

    Pourboghrat, F.

    1987-01-01

    The problem of position and force control for the compliant motion of the manipulators is considered. The external force and the position of the end-effector are related by a second order impedance function. The force control problem is then translated into a position control problem. For that, an adaptive controller is designed to achieve the compliant motion. The design uses the Liapunov's direct method to derive the adaptation law. The stability of the process is guaranteed from the Liapunov's stability theory. The controller does not require the knowledge of the system parameters for the implementation, and hence is easy for applications.

  20. Adaptation.

    PubMed

    Broom, Donald M

    2006-01-01

    The term adaptation is used in biology in three different ways. It may refer to changes which occur at the cell and organ level, or at the individual level, or at the level of gene action and evolutionary processes. Adaptation by cells, especially nerve cells helps in: communication within the body, the distinguishing of stimuli, the avoidance of overload and the conservation of energy. The time course and complexity of these mechanisms varies. Adaptive characters of organisms, including adaptive behaviours, increase fitness so this adaptation is evolutionary. The major part of this paper concerns adaptation by individuals and its relationships to welfare. In complex animals, feed forward control is widely used. Individuals predict problems and adapt by acting before the environmental effect is substantial. Much of adaptation involves brain control and animals have a set of needs, located in the brain and acting largely via motivational mechanisms, to regulate life. Needs may be for resources but are also for actions and stimuli which are part of the mechanism which has evolved to obtain the resources. Hence pigs do not just need food but need to be able to carry out actions like rooting in earth or manipulating materials which are part of foraging behaviour. The welfare of an individual is its state as regards its attempts to cope with its environment. This state includes various adaptive mechanisms including feelings and those which cope with disease. The part of welfare which is concerned with coping with pathology is health. Disease, which implies some significant effect of pathology, always results in poor welfare. Welfare varies over a range from very good, when adaptation is effective and there are feelings of pleasure or contentment, to very poor. A key point concerning the concept of individual adaptation in relation to welfare is that welfare may be good or poor while adaptation is occurring. Some adaptation is very easy and energetically cheap and

  1. Force reflecting teleoperation with adaptive impedance control.

    PubMed

    Love, Lonnie J; Book, Wayne J

    2004-02-01

    Experimentation and a survey of the literature clearly show that contact stability in a force reflecting teleoperation system requires high levels of damping on the master robot. However, excessive damping increases the energy required by an operator for commanding motion. The objective of this paper is to describe a new force reflecting teleoperation methodology that reduces operator energy requirements without sacrificing stability. We begin by describing a new approach to modeling and identifying the remote environment of the teleoperation system. We combine a conventional multi-input, multi-output recursive least squares (MIMO-RLS) system identification, identifying in real-time the remote environment impedance, with a discretized representation of the remote environment. This methodology generates a time-varying, position-dependent representation of the remote environment dynamics. Next, we adapt the target impedance of the master robot with respect to the dynamic model of the remote environment. The environment estimation and impedance adaptation are executed simultaneously and in real time. We demonstrate, through experimentation, that this approach significantly reduces the energy required by an operator to execute remote tasks while simultaneously providing sufficient damping to ensure contact stability.

  2. Adaptive control of waveguide modes using a directional coupler.

    PubMed

    Lu, Peng; Shipton, Matthew; Wang, Anbo; Xu, Yong

    2014-08-25

    Using adaptive optics (AO) and a directional coupler, we demonstrate adaptive control of linearly polarized (LP) modes in a two mode fiber. The AO feedback is provided by the coupling ratio of the directional coupler, and does not depend on the spatial profiles of optical field distributions. As a proof of concept demonstration, this work confirms the feasibility of using AO and all fiber devices to control the waveguide modes in a multimode network in a quasi-distributed manner.

  3. Design of a digital adaptive control system for reentry vehicles.

    NASA Technical Reports Server (NTRS)

    Picon-Jimenez, J. L.; Montgomery, R. C.; Grigsby, L. L.

    1972-01-01

    The flying qualities of atmospheric reentry vehicles experience considerable variations due to the wide changes in flight conditions characteristic of reentry trajectories. A digital adaptive control system has been designed to modify the vehicle's dynamic characteristics and to provide desired flying qualities for all flight conditions. This adaptive control system consists of a finite-memory identifier which determines the vehicle's unknown parameters, and a gain computer which calculates feedback gains to satisfy flying quality requirements.

  4. Current Trends in Vector Control: Adapting to Selective Pressure

    DTIC Science & Technology

    2008-11-16

    UNCLASSIFIED Defense Technical Information Center Compilation Part Notice ADP023975 TITLE: Current Trends in Vector Control: Adapting to Selective...ADP023967 thru ADP023976 UNCLASSIFIED Current Trends in Vector Control: Adapting to Selective Pressure Kendra Lawrence MAJ, Medical Service Corps...of Research, is to mitigate the products to the forefront that may fulfill risk posed by arthropods to DoD mission needs. The Department of personnel

  5. On Adaptive Extended Compatibility Changing Type of Product Design Strategy

    NASA Astrophysics Data System (ADS)

    Wenwen, Jiang; Zhibin, Xie

    The article uses research ways of Enterprise localization and enterprise's development course to research strategy of company's product design and development. It announces at different stages for development, different kinds of enterprises will adopt product design and development policies of different modes. It also announces close causality between development course of company and central technology and product. The result indicated enterprises in leading position in market, technology and brand adopt pioneer strategy type of product research and development. These enterprise relying on the large-scale leading enterprise offering a complete set service adopts the passively duplicating type tactic of product research and development. Some enterprise in part of advantage in technology, market, management or brand adopt following up strategy of product research and development. The enterprises with relative advantage position adopt the strategy of technology applied taking optimizing services as centre in product research and development in fields of brand culture and market service.

  6. Some Properties of a Bayesian Adaptive Ability Testing Strategy.

    ERIC Educational Resources Information Center

    McBride, James R.; Weiss, David J.

    Four monte carlo simulation studies of Owen's Bayesian sequential procedure for adaptive mental testing were conducted. Whereas previous simulation studies of this procedure have concentrated on evaluating it in terms of the correlation of its test scores with simulated ability in a normal population, these four studies explored a number of…

  7. 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.

  8. Adaptive control with an expert system based supervisory level. Thesis

    NASA Technical Reports Server (NTRS)

    Sullivan, Gerald A.

    1991-01-01

    Adaptive control is presently one of the methods available which may be used to control plants with poorly modelled dynamics or time varying dynamics. Although many variations of adaptive controllers exist, a common characteristic of all adaptive control schemes, is that input/output measurements from the plant are used to adjust a control law in an on-line fashion. Ideally the adjustment mechanism of the adaptive controller is able to learn enough about the dynamics of the plant from input/output measurements to effectively control the plant. In practice, problems such as measurement noise, controller saturation, and incorrect model order, to name a few, may prevent proper adjustment of the controller and poor performance or instability result. In this work we set out to avoid the inadequacies of procedurally implemented safety nets, by introducing a two level control scheme in which an expert system based 'supervisor' at the upper level provides all the safety net functions for an adaptive controller at the lower level. The expert system is based on a shell called IPEX, (Interactive Process EXpert), that we developed specifically for the diagnosis and treatment of dynamic systems. Some of the more important functions that the IPEX system provides are: (1) temporal reasoning; (2) planning of diagnostic activities; and (3) interactive diagnosis. Also, because knowledge and control logic are separate, the incorporation of new diagnostic and treatment knowledge is relatively simple. We note that the flexibility available in the system to express diagnostic and treatment knowledge, allows much greater functionality than could ever be reasonably expected from procedural implementations of safety nets. The remainder of this chapter is divided into three sections. In section 1.1 we give a detailed review of the literature in the area of supervisory systems for adaptive controllers. In particular, we describe the evolution of safety nets from simple ad hoc techniques, up

  9. Approaches to adaptive digital control focusing on the second order modal descriptions of large, flexible spacecraft dynamics

    NASA Technical Reports Server (NTRS)

    Johnson, C. R., Jr.

    1979-01-01

    The widespread modal analysis of flexible spacecraft and recognition of the poor a priori parameterization possible of the modal descriptions of individual structures have prompted the consideration of adaptive modal control strategies for distributed parameter systems. The current major approaches to computationally efficient adaptive digital control useful in these endeavors are explained in an original, lucid manner using modal second order structure dynamics for algorithm explication. Difficulties in extending these lumped-parameter techniques to distributed-parameter system expansion control are cited.

  10. Adaptive Attitude Control of the Crew Launch Vehicle

    NASA Technical Reports Server (NTRS)

    Muse, Jonathan

    2010-01-01

    An H(sub infinity)-NMA architecture for the Crew Launch Vehicle was developed in a state feedback setting. The minimal complexity adaptive law was shown to improve base line performance relative to a performance metric based on Crew Launch Vehicle design requirements for all most all of the Worst-on-Worst dispersion cases. The adaptive law was able to maintain stability for some dispersions that are unstable with the nominal control law. Due to the nature of the H(sub infinity)-NMA architecture, the augmented adaptive control signal has low bandwidth which is a great benefit for a manned launch vehicle.

  11. Spectrum management considerations of adaptive power control in satellite networks

    NASA Technical Reports Server (NTRS)

    Sawitz, P.; Sullivan, T.

    1983-01-01

    Adaptive power control concepts for the compensation of rain attenuation are considered for uplinks and downlinks. The performance of example power-controlled and fixed-EIRP uplinks is compared in terms of C/Ns and C/Is. Provisional conclusions are drawn with regard to the efficacy of uplink and downlink power control orbit/spectrum utilization efficiency.

  12. Adaptive neuro-control for large flexible structures

    NASA Astrophysics Data System (ADS)

    Krishankumar, K.; Montgomery, L.

    Special problems related to control system design for large flexible structures include the inherent low structural damping, wide range of modal frequencies, unmodeled dynamics, and possibility of system failures. Neuro-control, which combines concepts from artificial neural networks and adaptive control is investigated as a solution to some of these problems. Specifically, the roles of neuro-controllers in learning unmodeled dynamics and adaptive control for system failures are investigated. Satisfying these objectives requires training a neural network model (neuro-model) to simulate the actual structure, and then training a neural network controller (neuro-controller) to minimize structural response resulting from an arbitrary disturbance. The neuro-controller synthesis procedure and its capabilities in adaptively controlling the structure are demonstrated using a mathematical model of an existing structure, the Advanced Control Evaluation for Systems test article located at NASA/Marshall Space Flight Center, Huntsville, Alabama. Also, the real-time adaptive capability of neuro-controllers is demonstrated via an experiment utilizing a flexible clamped-free beam equipped with an actuator that uses a bang-bang controller.

  13. Simple adaptive control for quadcopters with saturated actuators

    NASA Astrophysics Data System (ADS)

    Borisov, Oleg I.; Bobtsov, Alexey A.; Pyrkin, Anton A.; Gromov, Vladislav S.

    2017-01-01

    The stabilization problem for quadcopters with saturated actuators is considered. A simple adaptive output control approach is proposed. The control law "consecutive compensator" is augmented with the auxiliary integral loop and anti-windup scheme. Efficiency of the obtained regulator was confirmed by simulation of the quadcopter control problem.

  14. Adaptive Robotic Control Driven by a Versatile Spiking Cerebellar Network

    PubMed Central

    Casellato, Claudia; Antonietti, Alberto; Garrido, Jesus A.; Carrillo, Richard R.; Luque, Niceto R.; Ros, Eduardo; Pedrocchi, Alessandra; D'Angelo, Egidio

    2014-01-01

    The cerebellum is involved in a large number of different neural processes, especially in associative learning and in fine motor control. To develop a comprehensive theory of sensorimotor learning and control, it is crucial to determine the neural basis of coding and plasticity embedded into the cerebellar neural circuit and how they are translated into behavioral outcomes in learning paradigms. Learning has to be inferred from the interaction of an embodied system with its real environment, and the same cerebellar principles derived from cell physiology have to be able to drive a variety of tasks of different nature, calling for complex timing and movement patterns. We have coupled a realistic cerebellar spiking neural network (SNN) with a real robot and challenged it in multiple diverse sensorimotor tasks. Encoding and decoding strategies based on neuronal firing rates were applied. Adaptive motor control protocols with acquisition and extinction phases have been designed and tested, including an associative Pavlovian task (Eye blinking classical conditioning), a vestibulo-ocular task and a perturbed arm reaching task operating in closed-loop. The SNN processed in real-time mossy fiber inputs as arbitrary contextual signals, irrespective of whether they conveyed a tone, a vestibular stimulus or the position of a limb. A bidirectional long-term plasticity rule implemented at parallel fibers-Purkinje cell synapses modulated the output activity in the deep cerebellar nuclei. In all tasks, the neurorobot learned to adjust timing and gain of the motor responses by tuning its output discharge. It succeeded in reproducing how human biological systems acquire, extinguish and express knowledge of a noisy and changing world. By varying stimuli and perturbations patterns, real-time control robustness and generalizability were validated. The implicit spiking dynamics of the cerebellar model fulfill timing, prediction and learning functions. PMID:25390365

  15. Situational Strategies for Self-Control

    PubMed Central

    Duckworth, Angela L.; Gendler, Tamar Szabó; Gross, James J.

    2015-01-01

    Exercising self-control is often difficult, whether declining a drink in order to drive home safely, passing on the chocolate cake to stay on a diet, or ignoring text messages to finish reading an important paper. But enacting self-control isn’t always difficult, particularly when it takes the form of proactively choosing or changing situations in ways that weaken undesirable impulses or potentiate desirable ones. Examples of situational self-control include the partygoer who chooses a seat far from where drinks are being poured, the dieter who asks the waiter not to bring around the dessert cart, and the student who goes to the library without a cell phone. Using the process model of self-control, we argue that the full range of self-control strategies can be organized by considering the timeline of the developing tempting impulse. Because impulses tend to grow stronger over time, situational self-control strategies—which can nip a tempting impulse in the bud— may be especially effective in preventing undesirable action. Ironically, we may underappreciate situational self-control for the same reason it is so effective, namely that by manipulating our circumstances to advantage we are often able to minimize the in-the-moment experience of intrapsychic struggle typically associated with exercising self-control. The supreme art of war is to subdue the enemy without fighting.—Sun Tzu, The Art of War PMID:26817725

  16. Linear adaptive control of a single-tether system

    NASA Technical Reports Server (NTRS)

    Greene, M. E.; Carter, J. T.; Walls, J. L.

    1992-01-01

    A control law for a single-tether orbiting satellite system based on a reduced order linear adaptive control technique is presented. The main advantages of this technique are its design simplicity and the facts that specific system parameters and model linearization are not required when designing the controller. Two controllers are developed: one which uses only tension in the tether as control actuation and one which uses both tension and in-plane thrusters as control actuation. Both a sixth-order nonlinear and an 11th-order bead model of a tethered satellite system are used for simulation purposes, demonstrating the ability of the controller to manage an uncertain system. Retrieval and stationkeeping results using these nonlinear models and the linear adaptive controller demonstrate the feasibility of the method. The robustness of the controller with respect to parameter uncertainties is also demonstrated by changing the nonlinear model and parameters within the model without redesigning the controller.

  17. Cultural adaptation of preschool PATHS (Promoting Alternative Thinking Strategies) curriculum for Pakistani children.

    PubMed

    Inam, Ayesha; Tariq, Pervaiz N; Zaman, Sahira

    2015-06-01

    Cultural adaptation of evidence-based programmes has gained importance primarily owing to its perceived impact on the established effectiveness of a programme. To date, many researchers have proposed different frameworks for systematic adaptation process. This article presents the cultural adaptation of preschool Promoting Alternative Thinking Strategies (PATHS) curriculum for Pakistani children using the heuristic framework of adaptation (Barrera & Castro, 2006). The study was completed in four steps: information gathering, preliminary adaptation design, preliminary adaptation test and adaptation refinement. Feedbacks on programme content suggested universality of the core programme components. Suggested changes were mostly surface structure: language, presentation of materials, conceptual equivalence of concepts, training needs of implementation staff and frequency of programme delivery. In-depth analysis was done to acquire cultural equivalence. Pilot testing of the outcome measures showed strong internal consistency. The results were further discussed with reference to similar work undertaken in other cultures.

  18. Robust Adaptive Control of Multivariable Nonlinear Systems

    DTIC Science & Technology

    2011-03-28

    Systems: Challenge Problem Integration and NASA s Integrated Resilient Aircraft Control . We also revealed some similarities with the disturbance ... observer (DOB) controllers and identified the main features in the difference between them. The key feature of this difference is that the estimation loop

  19. When cognitive control is not adaptive.

    PubMed

    Bocanegra, Bruno R; Hommel, Bernhard

    2014-06-01

    In order to engage in goal-directed behavior, cognitive agents have to control the processing of task-relevant features in their environments. Although cognitive control is critical for performance in unpredictable task environments, it is currently unknown how it affects performance in highly structured and predictable environments. In the present study, we showed that, counterintuitively, top-down control can impair and interfere with the otherwise automatic integration of statistical information in a predictable task environment, and it can render behavior less efficient than it would have been without the attempt to control the flow of information. In other words, less can sometimes be more (in terms of cognitive control), especially if the environment provides sufficient information for the cognitive system to behave on autopilot based on automatic processes alone.

  20. An adaptive learning control system for aircraft

    NASA Technical Reports Server (NTRS)

    Mekel, R.; Nachmias, S.

    1978-01-01

    A learning control system and its utilization as a flight control system for F-8 Digital Fly-By-Wire (DFBW) research aircraft is studied. The system has the ability to adjust a gain schedule to account for changing plant characteristics and to improve its performance and the plant's performance in the course of its own operation. Three subsystems are detailed: (1) the information acquisition subsystem which identifies the plant's parameters at a given operating condition; (2) the learning algorithm subsystem which relates the identified parameters to predetermined analytical expressions describing the behavior of the parameters over a range of operating conditions; and (3) the memory and control process subsystem which consists of the collection of updated coefficients (memory) and the derived control laws. Simulation experiments indicate that the learning control system is effective in compensating for parameter variations caused by changes in flight conditions.

  1. Effects of Self-Statements and Coping Strategies on Adaptational Outcomes of Stress.

    ERIC Educational Resources Information Center

    Uhlemann, Max R.; Plater, Sharon A.

    1989-01-01

    Examined effects of self-statements and coping strategies on adaptational outcomes of stress in female subjects (N=62). Results indicated self-statements did not discriminate significantly between individuals who effectively or ineffectively handled stressful encounters. Only information-seeking coping strategy showed a trend toward a significant…

  2. Acculturation Strategies, Social Support, and Cross-Cultural Adaptation: A Mediation Analysis

    ERIC Educational Resources Information Center

    Ng, Ting Kin; Tsang, Kwok Kuen; Lian, Yi

    2013-01-01

    Previous acculturation research has established the influences of acculturation strategies and social support on cross-cultural adaptation. The present study attempted to elaborate these direct associations by proposing that social support and the use of the integration and marginalization strategies might affect psychological adaptation…

  3. Advanced control strategies for HVAC&R systems—An overview: Part II: Soft and fusion control

    SciTech Connect

    D. Subbaram Naidu; Craig G. Rieger

    2011-04-01

    A chronological overview of the advanced control strategies for HVAC&R is presented. The overview focuses on hard-computing or control techniques, such as proportional-integral-derivative, optimal, nonlinear, adaptive, and robust; soft-computing or control techniques, such as neural networks, fuzzy logic, genetic algorithms; and the fusion or hybrid of hard and soft control techniques. Part I focused on hardcontrol strategies; Part II focuses on soft and fusion control and some future directions in HVA&R research. This overview is not intended to be an exhaustive survey on this topic, and any omissions of other works is purely unintentional.

  4. Cognitive control adjustments and conflict adaptation in major depressive disorder.

    PubMed

    Clawson, Ann; Clayson, Peter E; Larson, Michael J

    2013-08-01

    Individuals with major depressive disorder (MDD) show alterations in the cognitive control function of conflict processing. We examined the influence of these deficits on behavioral and event-related potential (ERP) indices of conflict adaptation, a cognitive control process wherein previous-trial congruency modulates current-trial performance, in 55 individuals with MDD and 55 matched controls. ERPs were calculated while participants completed a modified flanker task. There were nonsignificant between-groups differences in response time, error rate, and N2 indices of conflict adaptation. Higher depressive symptom scores were associated with smaller mean N2 conflict adaptation scores for individuals with MDD and when collapsed across groups. Results were consistent when comorbidity and medications were analyzed. These findings suggest N2 conflict adaptation is associated with depressive symptoms rather than clinical diagnosis alone.

  5. Adaptive control of Hammerstein-Wiener nonlinear systems

    NASA Astrophysics Data System (ADS)

    Zhang, Bi; Hong, Hyokchan; Mao, Zhizhong

    2016-07-01

    The Hammerstein-Wiener model is a block-oriented model, having a linear dynamic block sandwiched by two static nonlinear blocks. This note develops an adaptive controller for a special form of Hammerstein-Wiener nonlinear systems which are parameterized by the key-term separation principle. The adaptive control law and recursive parameter estimation are updated by the use of internal variable estimations. By modeling the errors due to the estimation of internal variables, we establish convergence and stability properties. Theoretical results show that parameter estimation convergence and closed-loop system stability can be guaranteed under sufficient condition. From a qualitative analysis of the sufficient condition, we introduce an adaptive weighted factor to improve the performance of the adaptive controller. Numerical examples are given to confirm the results in this paper.

  6. Common formalism for adaptive identification in signal processing and control

    NASA Astrophysics Data System (ADS)

    Macchi, O.

    1991-08-01

    The transversal and recursive approaches to adaptive identification are compared. ARMA modeling in signal processing, and identification in the indirect approach to control are developed in parallel. Adaptivity succeeds because the estimate is a linear function of the variable parameters for transversal identification. Control and signal processing can be imbedded in a unified well-established formalism that guarantees convergence of the adaptive parameters. For recursive identification, the estimate is a nonlinear function of the parameters, possibly resulting in nonuniqueness of the solution, in wandering and even instability of adaptive algorithms. The requirement for recursivity originates in the structure of the signal (MA-part) in signal processing. It is caused by the output measurement noise in control.

  7. Real-time nutrient monitoring in rivers: adaptive sampling strategies, technological challenges and future directions

    NASA Astrophysics Data System (ADS)

    Blaen, Phillip; Khamis, Kieran; Lloyd, Charlotte; Bradley, Chris

    2016-04-01

    Excessive nutrient concentrations in river waters threaten aquatic ecosystem functioning and can pose substantial risks to human health. Robust monitoring strategies are therefore required to generate reliable estimates of river nutrient loads and to improve understanding of the catchment processes that drive spatiotemporal patterns in nutrient fluxes. Furthermore, these data are vital for prediction of future trends under changing environmental conditions and thus the development of appropriate mitigation measures. In recent years, technological developments have led to an increase in the use of continuous in-situ nutrient analysers, which enable measurements at far higher temporal resolutions than can be achieved with discrete sampling and subsequent laboratory analysis. However, such instruments can be costly to run and difficult to maintain (e.g. due to high power consumption and memory requirements), leading to trade-offs between temporal and spatial monitoring resolutions. Here, we highlight how adaptive monitoring strategies, comprising a mixture of temporal sample frequencies controlled by one or more 'trigger variables' (e.g. river stage, turbidity, or nutrient concentration), can advance our understanding of catchment nutrient dynamics while simultaneously overcoming many of the practical and economic challenges encountered in typical in-situ river nutrient monitoring applications. We present examples of short-term variability in river nutrient dynamics, driven by complex catchment behaviour, which support our case for the development of monitoring systems that can adapt in real-time to rapid environmental changes. In addition, we discuss the advantages and disadvantages of current nutrient monitoring techniques, and suggest new research directions based on emerging technologies and highlight how these might improve: 1) monitoring strategies, and 2) understanding of linkages between catchment processes and river nutrient fluxes.

  8. HIDEC F-15 adaptive engine control system flight test results

    NASA Technical Reports Server (NTRS)

    Smolka, James W.

    1987-01-01

    NASA-Ames' Highly Integrated Digital Electronic Control (HIDEC) flight test program aims to develop fully integrated airframe, propulsion, and flight control systems. The HIDEC F-15 adaptive engine control system flight test program has demonstrated that significant performance improvements are obtainable through the retention of stall-free engine operation throughout the aircraft flight and maneuver envelopes. The greatest thrust increase was projected for the medium-to-high altitude flight regime at subsonic speed which is of such importance to air combat. Adaptive engine control systems such as the HIDEC F-15's can be used to upgrade the performance of existing aircraft without resort to expensive reengining programs.

  9. Pressure regulation for earth pressure balance control on shield tunneling machine by using adaptive robust control

    NASA Astrophysics Data System (ADS)

    Xie, Haibo; Liu, Zhibin; Yang, Huayong

    2016-05-01

    Most current studies about shield tunneling machine focus on the construction safety and tunnel structure stability during the excavation. Behaviors of the machine itself are also studied, like some tracking control of the machine. Yet, few works concern about the hydraulic components, especially the pressure and flow rate regulation components. This research focuses on pressure control strategies by using proportional pressure relief valve, which is widely applied on typical shield tunneling machines. Modeling of a commercial pressure relief valve is done. The modeling centers on the main valve, because the dynamic performance is determined by the main valve. To validate such modeling, a frequency-experiment result of the pressure relief valve, whose bandwidth is about 3 Hz, is presented as comparison. The modeling and the frequency experimental result show that it is reasonable to regard the pressure relief valve as a second-order system with two low corner frequencies. PID control, dead band compensation control and adaptive robust control (ARC) are proposed and simulation results are presented. For the ARC, implements by using first order approximation and second order approximation are presented. The simulation results show that the second order approximation implement with ARC can track 4 Hz sine signal very well, and the two ARC simulation errors are within 0.2 MPa. Finally, experiment results of dead band compensation control and adaptive robust control are given. The results show that dead band compensation had about 30° phase lag and about 20% off of the amplitude attenuation. ARC is tracking with little phase lag and almost no amplitude attenuation. In this research, ARC has been tested on a pressure relief valve. It is able to improve the valve's dynamic performances greatly, and it is capable of the pressure control of shield machine excavation.

  10. Modeling and simulation of permanent magnet synchronous motor based on neural network control strategy

    NASA Astrophysics Data System (ADS)

    Luo, Bingyang; Chi, Shangjie; Fang, Man; Li, Mengchao

    2017-03-01

    Permanent magnet synchronous motor is used widely in industry, the performance requirements wouldn't be met by adopting traditional PID control in some of the occasions with high requirements. In this paper, a hybrid control strategy - nonlinear neural network PID and traditional PID parallel control are adopted. The high stability and reliability of traditional PID was combined with the strong adaptive ability and robustness of neural network. The permanent magnet synchronous motor will get better control performance when switch different working modes according to different controlled object conditions. As the results showed, the speed response adopting the composite control strategy in this paper was faster than the single control strategy. And in the case of sudden disturbance, the recovery time adopting the composite control strategy designed in this paper was shorter, the recovery ability and the robustness were stronger.

  11. Modeling-Error-Driven Performance-Seeking Direct Adaptive Control

    NASA Technical Reports Server (NTRS)

    Kulkarni, Nilesh V.; Kaneshige, John; Krishnakumar, Kalmanje; Burken, John

    2008-01-01

    This paper presents a stable discrete-time adaptive law that targets modeling errors in a direct adaptive control framework. The update law was developed in our previous work for the adaptive disturbance rejection application. The approach is based on the philosophy that without modeling errors, the original control design has been tuned to achieve the desired performance. The adaptive control should, therefore, work towards getting this performance even in the face of modeling uncertainties/errors. In this work, the baseline controller uses dynamic inversion with proportional-integral augmentation. Dynamic inversion is carried out using the assumed system model. On-line adaptation of this control law is achieved by providing a parameterized augmentation signal to the dynamic inversion block. The parameters of this augmentation signal are updated to achieve the nominal desired error dynamics. Contrary to the typical Lyapunov-based adaptive approaches that guarantee only stability, the current approach investigates conditions for stability as well as performance. A high-fidelity F-15 model is used to illustrate the overall approach.

  12. Adaptation strategies to climate change and climate variability: a comparative study between seven contrasting river basins.

    NASA Astrophysics Data System (ADS)

    Droogers, P.

    2003-04-01

    Climate change and climate variability is and will have a tremendous impact on hydrology and consequently on food security and environmental protection. From the four major components in climate change and climate variability studies, projection, mitigation, impact and adaptation, has the latter so far received less attention than the other three. An international collaboration of ten institutions is comparing adaptation strategies between contrasting basins ranging from wet to dry and from poor to rich. Basins included are: Mekong, Walawe (Sri Lanka), Rhine, Sacramento, Syr Darya, Volta, and Zayandeh (Iran). Simulation models at basin and field scale have been set up and possible adaptation strategies are explored by these models. Preliminary results indicate that appropriate adaptation strategies are different between these seven contrasting basins. It is also clear that these adaptation strategies should focus on increased variability rather than on the overall change of the mean. The focus was hereby not only on an increase in variation but especially on the number of successive dry and wet years. Results show that the studies on these adaptation strategies could not be performed only at one scale, but that a combination of field scale as well as basin scale analysis is essential.

  13. Active vibration control of Flexible Joint Manipulator using Input Shaping and Adaptive Parameter Auto Disturbance Rejection Controller

    NASA Astrophysics Data System (ADS)

    Li, W. P.; Luo, B.; Huang, H.

    2016-02-01

    This paper presents a vibration control strategy for a two-link Flexible Joint Manipulator (FJM) with a Hexapod Active Manipulator (HAM). A dynamic model of the multi-body, rigid-flexible system composed of an FJM, a HAM and a spacecraft was built. A hybrid controller was proposed by combining the Input Shaping (IS) technique with an Adaptive-Parameter Auto Disturbance Rejection Controller (APADRC). The controller was used to suppress the vibration caused by external disturbances and input motions. Parameters of the APADRC were adaptively adjusted to ensure the characteristic of the closed loop system to be a given reference system, even if the configuration of the manipulator significantly changes during motion. Because precise parameters of the flexible manipulator are not required in the IS system, the operation of the controller was sufficiently robust to accommodate uncertainties in system parameters. Simulations results verified the effectiveness of the HAM scheme and controller in the vibration suppression of FJM during operation.

  14. Guidance and control strategies for aerospace vehicles

    NASA Technical Reports Server (NTRS)

    Hibey, Joseph L.; Naidu, Desineni S.

    1990-01-01

    The first part of the report concerns broadly the summary of the work done in the areas of singular perturbations and time scales (SPaTS), aerobraking technology, guidance and aerocruise. The synergistic plane change problem connected with orbital transfer employing aeroassist technology, is addressed. The mission involves transfer from high Earth orbit to low Earth orbit with plane change being performed within the atmosphere. The complete mission consists of a deorbit phase, atmospheric phase, and finally reorbit phase. The atmospheric maneuver is composed of an entry mode, a cruise mode, and finally an exit mode. During the cruise mode, constant altitude and velocity are maintained by means of bank angle control with constant thrust or thrust control with constant bank angle. Comparisons between these two control strategies bring out some interesting features.

  15. Nutritional strategies to modulate the adaptive response to endurance training.

    PubMed

    Hawley, John A

    2013-01-01

    In recent years, advances in molecular biology have allowed scientists to elucidate how endurance exercise training stimulates skeletal muscle remodeling (i.e. promotes mitochondrial biogenesis). A growing field of interest directly arising from our understanding of the molecular bases of training adaptation is how nutrient availability can alter the regulation of many contraction-induced events in muscle in response to endurance exercise. Acutely manipulating substrate availability can exert profound effects on muscle energy stores and patterns of fuel metabolism during exercise, as well as many processes activating gene expression and cell signaling. Accordingly, such interventions when repeated over weeks and months have the potential to modulate numerous adaptive processes in skeletal muscle that ultimately drive the phenotype-specific characteristics observed in highly trained athletes. In this review, the molecular and cellular events that occur in skeletal muscle during and after endurance exercise are discussed and evidence provided to demonstrate that nutrient availability plays an important role in modulating many of the adaptive responses to training. Emphasis is on human studies that have determined the regulatory role of muscle glycogen availability on cell metabolism, endurance training capacity and performance.

  16. Decentralized adaptive control of manipulators - Theory, simulation, and experimentation

    NASA Technical Reports Server (NTRS)

    Seraji, Homayoun

    1989-01-01

    The author presents a simple decentralized adaptive-control scheme for multijoint robot manipulators based on the independent joint control concept. The control objective is to achieve accurate tracking of desired joint trajectories. The proposed control scheme does not use the complex manipulator dynamic model, and each joint is controlled simply by a PID (proportional-integral-derivative) feedback controller and a position-velocity-acceleration feedforward controller, both with adjustable gains. Simulation results are given for a two-link direct-drive manipulator under adaptive independent joint control. The results illustrate trajectory tracking under coupled dynamics and varying payload. The proposed scheme is implemented on a MicroVAX II computer for motion control of the three major joints of a PUMA 560 arm. Experimental results are presented to demonstrate that trajectory tracking is achieved despite coupled nonlinear joint dynamics.

  17. Self-tuning regulators. [adaptive control research

    NASA Technical Reports Server (NTRS)

    Astrom, K. J.

    1975-01-01

    The results of a research project are discussed for self-tuning regulators for active control. An algorithm for the self-tuning regulator is described as being stochastic, nonlinear, time variable, and not trivial.

  18. [Cold adaptation strategy in insects inhabiting central Yakutia].

    PubMed

    Li, N G; Averenskiĭ, A I

    2007-01-01

    Cold hardiness in 20 insect species living in extremely cold climate of Yakutia has been investigated for the first time. It was shown that the Yakutian insects prefer to use the strategy of freeze tolerance according to which they produce special substances initiating the freezing of hemolymph at high subzero temperatures. The presence of ice-nucleating agents in the haemolymph of insects belonging to the phylogenetic group of Lepidopteran was shown. We postulate that Pieris rapae may shift between the different cold hardiness strategies when they move from moderately cold regions to a more severe environment.

  19. Stochastic Adaptive Control and Estimation Enhancement.

    DTIC Science & Technology

    1985-03-19

    minima behave as the terminal state weighting changes . This is illustrated in Fig. ,..ith terminal state weighting Q(2) and control %,eighting 5. For...been shown that the various cost components lea-rng changes the present behavior of the (’L controller, can vary drastically with changes in the...abrupt change in the damping and frequencies of wing structural modes. The structural and aerodynamic models used z(k) = hkx(k)J + w(k), k = ,.,-1 in

  20. Identification and dual adaptive control of a turbojet engine

    NASA Technical Reports Server (NTRS)

    Merrill, W.; Leininger, G.

    1979-01-01

    The objective of this paper is to utilize the design methods of modern control theory to realize a 'dual-adaptive' feedback control unit for a highly non-linear single spool airbreathing turbojet engine. Using a very detailed and accurate simulation of the non-linear engine as the data source, linear operating point models of unspecified dimension are identified. Feedback control laws are designed at each operating point for a prespecified set of sampling rates using sampled-data output regulator theory. The control system sampling rate is determined by an adaptive sampling algorithm in correspondence with turbojet engine performance. The result is a 'dual-adpative' control law that is functionally dependent upon the sampling rate selected and environmental operating conditions. Simulation transients demonstrate the utility of the dual-adaptive design to improve on-board computer utilization while maintaining acceptable levels of engine performance.

  1. Control of sound radiation with active/adaptive structures

    NASA Technical Reports Server (NTRS)

    Fuller, C. R.; Rogers, C. A.; Robertshaw, H. H.

    1992-01-01

    Recent research is discussed in the area of active structural acoustic control with active/adaptive structures. Progress in the areas of structural acoustics, actuators, sensors, and control approaches is presented. Considerable effort has been given to the interaction of these areas with each other due to the coupled nature of the problem. A discussion is presented on actuators bonded to or embedded in the structure itself. The actuators discussed are piezoceramic actuators and shape memory alloy actuators. The sensors discussed are optical fiber sensors, Nitinol fiber sensors, piezoceramics, and polyvinylidene fluoride sensors. The active control techniques considered are state feedback control techniques and least mean square adaptive algorithms. Results presented show that significant progress has been made towards controlling structurally radiated noise by active/adaptive means applied directly to the structure.

  2. Adaptive on-line estimation and control of overlay tool bias

    NASA Astrophysics Data System (ADS)

    Martinez, Victor M.; Finn, Karen; Edgar, Thomas F.

    2003-06-01

    Modern lithographic manufacturing processes rely on various types of exposure tools, used in a mix-and-match fashion. The motivation to use older tools alongside state-of-the-art tools is lower cost and one of the tradeoffs is a degradation in overlay performance. While average prices of semiconductor products continue to fall, the cost of manufacturing equipment rises with every product generation. Lithography processing, including the cost of ownership for tools, accounts for roughly 30% of the wafer processing costs, thus the importance of mix-and-match strategies. Exponentially Weighted Moving Average (EWMA) run-by-run controllers are widely used in the semiconductor manufacturing industry. This type of controller has been implemented successfully in volume manufacturing, improving Cpk values dramatically in processes like photolithography and chemical mechanical planarization. This simple, but powerful control scheme is well suited for adding corrections to compensate for Overlay Tool Bias (OTB). We have developed an adaptive estimation technique to compensate for overlay variability due to differences in the processing tools. The OTB can be dynamically calculated for each tool, based on the most recent measurements available, and used to correct the control variables. One approach to tracking the effect of different tools is adaptive modeling and control. The basic premise of an adaptive system is to change or adapt the controller as the operating conditions of the system change. Using closed-loop data, the adaptive control algorithm estimates the controller parameters using a recursive estimation technique. Once an updated model of the system is available, modelbased control becomes feasible. In the simplest scenario, the control law can be reformulated to include the current state of the tool (or its estimate) to compensate dynamically for OTB. We have performed simulation studies to predict the impact of deploying this strategy in production. The results

  3. Adaptive strategies of Yersinia pestis to persist during inter-epizootic and epizootic periods

    PubMed Central

    Eisen, Rebecca J.; Gage, Kenneth L.

    2009-01-01

    Plague is a flea-borne zoonotic bacterial disease caused by Yersinia pestis. It has caused three historical pandemics, including the Black Death which killed nearly a third of Europe's population in the 14th century. In modern times, plague epizootics can extirpate entire susceptible wildlife populations and then disappear for long time periods. Understanding how Y. pestis is maintained during inter-epizootic periods and the factors responsible for transitioning to epizootics is important for preventing and controlling pathogen transmission and ultimately reducing the burden of human disease. In this review, we focus primarily on plague in North American foci and discuss the potential adaptive strategies Y. pestis might employ to ensure not only its survival during inter-epizootic periods but also the rapid epizootic spread and invasion of new territories that are so characteristic of plague and have resulted in major pandemics and establishment of plague foci throughout much of the world. PMID:18803931

  4. Hybrid adaptive ascent flight control for a flexible launch vehicle

    NASA Astrophysics Data System (ADS)

    Lefevre, Brian D.

    For the purpose of maintaining dynamic stability and improving guidance command tracking performance under off-nominal flight conditions, a hybrid adaptive control scheme is selected and modified for use as a launch vehicle flight controller. This architecture merges a model reference adaptive approach, which utilizes both direct and indirect adaptive elements, with a classical dynamic inversion controller. This structure is chosen for a number of reasons: the properties of the reference model can be easily adjusted to tune the desired handling qualities of the spacecraft, the indirect adaptive element (which consists of an online parameter identification algorithm) continually refines the estimates of the evolving characteristic parameters utilized in the dynamic inversion, and the direct adaptive element (which consists of a neural network) augments the linear feedback signal to compensate for any nonlinearities in the vehicle dynamics. The combination of these elements enables the control system to retain the nonlinear capabilities of an adaptive network while relying heavily on the linear portion of the feedback signal to dictate the dynamic response under most operating conditions. To begin the analysis, the ascent dynamics of a launch vehicle with a single 1st stage rocket motor (typical of the Ares 1 spacecraft) are characterized. The dynamics are then linearized with assumptions that are appropriate for a launch vehicle, so that the resulting equations may be inverted by the flight controller in order to compute the control signals necessary to generate the desired response from the vehicle. Next, the development of the hybrid adaptive launch vehicle ascent flight control architecture is discussed in detail. Alterations of the generic hybrid adaptive control architecture include the incorporation of a command conversion operation which transforms guidance input from quaternion form (as provided by NASA) to the body-fixed angular rate commands needed by the

  5. Control strategies for planetary rover motion and manipulator control

    NASA Technical Reports Server (NTRS)

    Trautwein, W.

    1973-01-01

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

  6. Adaptable and Adaptive Automation for Supervisory Control of Multiple Autonomous Vehicles

    DTIC Science & Technology

    2012-10-01

    Adaptable and Adaptive Automation for Supervisory Control of Multiple Autonomous Vehicles Brian Kidwell , 1 Gloria L. Calhoun, 2 Heath A. Ruff...correlated with selection of the high LOA ( r = .789, p < .01), as well as the disuse of the medium LOA ( r = -.823, p < .01). There was not a...AFRL. Brian Kidwell and Raja Parasuraman were supported by Air Force Office of Scientific Research grant FA9550-10-1-0385 and the Center of

  7. 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

  8. 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.

  9. Flexible stocking strategies for adapting to climatic variability

    Technology Transfer Automated Retrieval System (TEKTRAN)

    As a result of precipitation-induced variability on forage production, ranchers have difficulty matching animal demand with forage availability in their operations. Flexible stocking strategies could more effectively use extra forage in highly productive years and limit risk of overgrazing during dr...

  10. ADAPTIVE CLEARANCE CONTROL SYSTEMS FOR TURBINE ENGINES

    NASA Technical Reports Server (NTRS)

    Blackwell, Keith M.

    2004-01-01

    The Controls and Dynamics Technology Branch at NASA Glenn Research Center primarily deals in developing controls, dynamic models, and health management technologies for air and space propulsion systems. During the summer of 2004 I was granted the privilege of working alongside professionals who were developing an active clearance control system for commercial jet engines. Clearance, the gap between the turbine blade tip and the encompassing shroud, increases as a result of wear mechanisms and rubbing of the turbine blades on shroud. Increases in clearance cause larger specific fuel consumption (SFC) and loss of efficient air flow. This occurs because, as clearances increase, the engine must run hotter and bum more fuel to achieve the same thrust. In order to maintain efficiency, reduce fuel bum, and reduce exhaust gas temperature (EGT), the clearance must be accurately controlled to gap sizes no greater than a few hundredths of an inch. To address this problem, NASA Glenn researchers have developed a basic control system with actuators and sensors on each section of the shroud. Instead of having a large uniform metal casing, there would be sections of the shroud with individual sensors attached internally that would move slightly to reform and maintain clearance. The proposed method would ultimately save the airline industry millions of dollars.

  11. Adaptive measurement control for calorimetric assay

    SciTech Connect

    Glosup, J.G.; Axelrod, M.C.

    1994-10-01

    The performance of a calorimeter is usually evaluated by constructing a Shewhart control chart of its measurement errors for a collection of reference standards. However, Shewhart control charts were developed in a manufacturing setting where observations occur in batches. Additionally, the Shewhart control chart expects the variance of the charted variable to be known or at least well estimated from previous experimentation. For calorimetric assay, observations are collected singly in a time sequence with a (possibly) changing mean, and extensive experimentation to calculate the variance of the measurement errors is seldom feasible. These facts pose problems in constructing a control chart. In this paper, the authors propose using the mean squared successive difference to estimate the variance of measurement errors based solely on prior observations. This procedure reduces or eliminates estimation bias due to a changing mean. However, the use of this estimator requires an adjustment to the definition of the alarm and warning limits for the Shewhart control chart. The authors propose adjusted limits based on an approximate Student`s t-distribution for the measurement errors and discuss the limitations of this approximation. Suggestions for the practical implementation of this method are provided also.

  12. Enzymatic Synthesis of Ampicillin: Nonlinear Modeling, Kinetics Estimation, and Adaptive Control

    PubMed Central

    Roman, Monica; Selişteanu, Dan

    2012-01-01

    Nowadays, the use of advanced control strategies in biotechnology is quite low. A main reason is the lack of quality of the data, and the fact that more sophisticated control strategies must be based on a model of the dynamics of bioprocesses. The nonlinearity of the bioprocesses and the absence of cheap and reliable instrumentation require an enhanced modeling effort and identification strategies for the kinetics. The present work approaches modeling and control strategies for the enzymatic synthesis of ampicillin that is carried out inside a fed-batch bioreactor. First, a nonlinear dynamical model of this bioprocess is obtained by using a novel modeling procedure for biotechnology: the bond graph methodology. Second, a high gain observer is designed for the estimation of the imprecisely known kinetics of the synthesis process. Third, by combining an exact linearizing control law with the on-line estimation kinetics algorithm, a nonlinear adaptive control law is designed. The case study discussed shows that a nonlinear feedback control strategy applied to the ampicillin synthesis bioprocess can cope with disturbances, noisy measurements, and parametric uncertainties. Numerical simulations performed with MATLAB environment are included in order to test the behavior and the performances of the proposed estimation and control strategies. PMID:22523470

  13. Enzymatic synthesis of ampicillin: nonlinear modeling, kinetics estimation, and adaptive control.

    PubMed

    Roman, Monica; Selişteanu, Dan

    2012-01-01

    Nowadays, the use of advanced control strategies in biotechnology is quite low. A main reason is the lack of quality of the data, and the fact that more sophisticated control strategies must be based on a model of the dynamics of bioprocesses. The nonlinearity of the bioprocesses and the absence of cheap and reliable instrumentation require an enhanced modeling effort and identification strategies for the kinetics. The present work approaches modeling and control strategies for the enzymatic synthesis of ampicillin that is carried out inside a fed-batch bioreactor. First, a nonlinear dynamical model of this bioprocess is obtained by using a novel modeling procedure for biotechnology: the bond graph methodology. Second, a high gain observer is designed for the estimation of the imprecisely known kinetics of the synthesis process. Third, by combining an exact linearizing control law with the on-line estimation kinetics algorithm, a nonlinear adaptive control law is designed. The case study discussed shows that a nonlinear feedback control strategy applied to the ampicillin synthesis bioprocess can cope with disturbances, noisy measurements, and parametric uncertainties. Numerical simulations performed with MATLAB environment are included in order to test the behavior and the performances of the proposed estimation and control strategies.

  14. Adaptive feedback control of wall modes in tokamaks

    NASA Astrophysics Data System (ADS)

    Sun, Zhipeng

    The goal of this study is to stabilize the resistive wall modes (RWM) in tokamaks with adaptive stochastic feedback control. This is the first ever attempt at adaptive stochastic feedback optimal control of RWM in tokamaks. Both adaptive optimal state feedback and adaptive output feedback control have been studied. The adaptive optimal state feedback control design successfully stabilizes a slowly time-evolving RWM in a tokamak in a time scale of 4 times the inverse of the growth rate of the RWM. The stabilized system output for the time-invariant model is twice the system noise level. For the time-varying model, it is several times larger than the time-invariant case. The adaptive stochastic output feedback can also stabilize the slowly time-evolving RWM. It can do this in a time about 3 times that of the inverse of the growth rate of the RWM. The stabilized system output is twice as large as that of the state feedback case. In order to avoid the bottleneck encountered in the various sequential computations with big matrices in the feedback algorithms, neural network control has been proposed. It has been used to implement the adaptive stochastic output feedback control. It can stabilize the RWM instability in a time of 3 times the inverse of the growth rate of the RWM. The stabilized wall modes have the steady state output similar to the output feedback case. The developed algorithms, state feedback, output feedback, neural network control, can be readily applied to other plasma instabilities.

  15. Adaptive Identification and Control of Flow-Induced Cavity Oscillations

    NASA Technical Reports Server (NTRS)

    Kegerise, M. A.; Cattafesta, L. N.; Ha, C.

    2002-01-01

    Progress towards an adaptive self-tuning regulator (STR) for the cavity tone problem is discussed in this paper. Adaptive system identification algorithms were applied to an experimental cavity-flow tested as a prerequisite to control. In addition, a simple digital controller and a piezoelectric bimorph actuator were used to demonstrate multiple tone suppression. The control tests at Mach numbers of 0.275, 0.40, and 0.60 indicated approx. = 7dB tone reductions at multiple frequencies. Several different adaptive system identification algorithms were applied at a single freestream Mach number of 0.275. Adaptive finite-impulse response (FIR) filters of orders up to N = 100 were found to be unsuitable for modeling the cavity flow dynamics. Adaptive infinite-impulse response (IIR) filters of comparable order better captured the system dynamics. Two recursive algorithms, the least-mean square (LMS) and the recursive-least square (RLS), were utilized to update the adaptive filter coefficients. Given the sample-time requirements imposed by the cavity flow dynamics, the computational simplicity of the least mean squares (LMS) algorithm is advantageous for real-time control.

  16. Adaptive control system for pulsed megawatt klystrons

    DOEpatents

    Bolie, Victor W.

    1992-01-01

    The invention provides an arrangement for reducing waveform errors such as errors in phase or amplitude in output pulses produced by pulsed power output devices such as klystrons by generating an error voltage representing the extent of error still present in the trailing edge of the previous output pulse, using the error voltage to provide a stored control voltage, and applying the stored control voltage to the pulsed power output device to limit the extent of error in the leading edge of the next output pulse.

  17. Adaptive Control of Nonlinear Flexible Systems

    DTIC Science & Technology

    1994-05-26

    nonlinear plants which admit a finite- dimensional state-space description of the form S= f(Z) + g(z)u for which the State-Space Exact Linearization Problem...robust state-feedback law and the sensi- i tivity of the exact - linearization based control law. 2.6.3 Example 2 I Consider the following one state...is also available for exact linearization , Now apply the certainty equivalence based control one can bring an input-output approach to a particu- law

  18. Adaptive Control of Nonlinear Flexible Systems

    DTIC Science & Technology

    1994-05-26

    state-space description of the form S= f () + g(z)u I for which the State-Space Exact Linearization Problem [5] is solvable over WR’, i.e., control...feedback law and the sensi- tivity of the exact - linearization based control law.I 2.6.3 Example 2 I Consider the following one state plant model P : u ý- y...n. (dp - u . For the plant description in Section 2 , provided N that the state-z is also available for exact linearization , Now apply the certainty

  19. Embedded intelligent adaptive PI controller for an electromechanical system.

    PubMed

    El-Nagar, Ahmad M

    2016-09-01

    In this study, an intelligent adaptive controller approach using the interval type-2 fuzzy neural network (IT2FNN) is presented. The proposed controller consists of a lower level proportional - integral (PI) controller, which is the main controller and an upper level IT2FNN which tuning on-line the parameters of a PI controller. The proposed adaptive PI controller based on IT2FNN (API-IT2FNN) is implemented practically using the Arduino DUE kit for controlling the speed of a nonlinear DC motor-generator system. The parameters of the IT2FNN are tuned on-line using back-propagation algorithm. The Lyapunov theorem is used to derive the stability and convergence of the IT2FNN. The obtained experimental results, which are compared with other controllers, demonstrate that the proposed API-IT2FNN is able to improve the system response over a wide range of system uncertainties.

  20. Design of an adaptive controller for a telerobot manipulator

    NASA Technical Reports Server (NTRS)

    Nguyen, Charles C.; Zhou, Zhen-Lei

    1989-01-01

    The design of a joint-space adaptive control scheme is presented for controlling the slave arm motion of a dual-arm telerobot system developed at Goddard Space Flight Center (GSFC) to study telerobotic operations in space. Each slave arm of the dual-arm system is a kinematically redundant manipulator with 7 degrees of freedom (DOF). Using the concept of model reference adaptive control (MRAC) and Lyapunov direct method, an adatation algorithm is derived which adjusts the PD controller gains of the control scheme. The development of the adaptive control scheme assumes that the slave arm motion is non-compliant and slowly-varying. The implementation of the derived control scheme does not need the computation of the manipulator dynamics, which makes the control scheme sufficiently fast for real-time applications. Computer simulation study performed for the 7-DOF slave arm shows that the developed control scheme can efficiently adapt to sudden change in payloads while tracking various test trajectories such as ramp or sinusoids with negligible position errors.

  1. Direct adaptive control of a PUMA 560 industrial robot

    NASA Technical Reports Server (NTRS)

    Seraji, Homayoun; Lee, Thomas; Delpech, Michel

    1989-01-01

    The implementation and experimental validation of a new direct adaptive control scheme on a PUMA 560 industrial robot is described. The testbed facility consists of a Unimation PUMA 560 six-jointed robot and controller, and a DEC MicroVAX II computer which hosts the Robot Control C Library software. The control algorithm is implemented on the MicroVAX which acts as a digital controller for the PUMA robot, and the Unimation controller is effectively bypassed and used merely as an I/O device to interface the MicroVAX to the joint motors. The control algorithm for each robot joint consists of an auxiliary signal generated by a constant-gain Proportional plus Integral plus Derivative (PID) controller, and an adaptive position-velocity (PD) feedback controller with adjustable gains. The adaptive independent joint controllers compensate for the inter-joint couplings and achieve accurate trajectory tracking without the need for the complex dynamic model and parameter values of the robot. Extensive experimental results on PUMA joint control are presented to confirm the feasibility of the proposed scheme, in spite of strong interactions between joint motions. Experimental results validate the capabilities of the proposed control scheme. The control scheme is extremely simple and computationally very fast for concurrent processing with high sampling rates.

  2. Adaptive containment control of nonlinear multi-agent systems with non-identical agents

    NASA Astrophysics Data System (ADS)

    Haghshenas, Hamed; Badamchizadeh, Mohammad Ali; Baradarannia, Mahdi

    2015-08-01

    This paper addresses the containment control problem for a group of non-identical agents, where the dynamics of agents are supposed to be nonlinear with unknown parameters and parameterised by some functions. In controller design approach for each follower, adaptive control and Lyapunov theory are utilised as the main control strategies to guarantee the convergence of all non-identical followers to the dynamic convex hull formed by the leaders. The design of distributed adaptive controllers is based on the exchange of neighbourhood errors among the agents. For analysis of containment control problem, a new formulation has been developed using M-matrices. The validity of theoretical results are demonstrated through an example.

  3. A Digitalized Gyroscope System Based on a Modified Adaptive Control Method.

    PubMed

    Xia, Dunzhu; Hu, Yiwei; Ni, Peizhen

    2016-03-04

    In this work we investigate the possibility of applying the adaptive control algorithm to Micro-Electro-Mechanical System (MEMS) gyroscopes. Through comparing the gyroscope working conditions with the reference model, the adaptive control method can provide online estimation of the key parameters and the proper control strategy for the system. The digital second-order oscillators in the reference model are substituted for two phase locked loops (PLLs) to achieve a more steady amplitude and frequency control. The adaptive law is modified to satisfy the condition of unequal coupling stiffness and coupling damping coefficient. The rotation mode of the gyroscope system is considered in our work and a rotation elimination section is added to the digitalized system. Before implementing the algorithm in the hardware platform, different simulations are conducted to ensure the algorithm can meet the requirement of the angular rate sensor, and some of the key adaptive law coefficients are optimized. The coupling components are detected and suppressed respectively and Lyapunov criterion is applied to prove the stability of the system. The modified adaptive control algorithm is verified in a set of digitalized gyroscope system, the control system is realized in digital domain, with the application of Field Programmable Gate Array (FPGA). Key structure parameters are measured and compared with the estimation results, which validated that the algorithm is feasible in the setup. Extra gyroscopes are used in repeated experiments to prove the commonality of the algorithm.

  4. A Digitalized Gyroscope System Based on a Modified Adaptive Control Method

    PubMed Central

    Xia, Dunzhu; Hu, Yiwei; Ni, Peizhen

    2016-01-01

    In this work we investigate the possibility of applying the adaptive control algorithm to Micro-Electro-Mechanical System (MEMS) gyroscopes. Through comparing the gyroscope working conditions with the reference model, the adaptive control method can provide online estimation of the key parameters and the proper control strategy for the system. The digital second-order oscillators in the reference model are substituted for two phase locked loops (PLLs) to achieve a more steady amplitude and frequency control. The adaptive law is modified to satisfy the condition of unequal coupling stiffness and coupling damping coefficient. The rotation mode of the gyroscope system is considered in our work and a rotation elimination section is added to the digitalized system. Before implementing the algorithm in the hardware platform, different simulations are conducted to ensure the algorithm can meet the requirement of the angular rate sensor, and some of the key adaptive law coefficients are optimized. The coupling components are detected and suppressed respectively and Lyapunov criterion is applied to prove the stability of the system. The modified adaptive control algorithm is verified in a set of digitalized gyroscope system, the control system is realized in digital domain, with the application of Field Programmable Gate Array (FPGA). Key structure parameters are measured and compared with the estimation results, which validated that the algorithm is feasible in the setup. Extra gyroscopes are used in repeated experiments to prove the commonality of the algorithm. PMID:26959019

  5. Neural and Fuzzy Adaptive Control of Induction Motor Drives

    SciTech Connect

    Bensalem, Y.; Sbita, L.; Abdelkrim, M. N.

    2008-06-12

    This paper proposes an adaptive neural network speed control scheme for an induction motor (IM) drive. The proposed scheme consists of an adaptive neural network identifier (ANNI) and an adaptive neural network controller (ANNC). For learning the quoted neural networks, a back propagation algorithm was used to automatically adjust the weights of the ANNI and ANNC in order to minimize the performance functions. Here, the ANNI can quickly estimate the plant parameters and the ANNC is used to provide on-line identification of the command and to produce a control force, such that the motor speed can accurately track the reference command. By combining artificial neural network techniques with fuzzy logic concept, a neural and fuzzy adaptive control scheme is developed. Fuzzy logic was used for the adaptation of the neural controller to improve the robustness of the generated command. The developed method is robust to load torque disturbance and the speed target variations when it ensures precise trajectory tracking with the prescribed dynamics. The algorithm was verified by simulation and the results obtained demonstrate the effectiveness of the IM designed controller.

  6. Stable direct adaptive control of linear infinite-dimensional systems using a command generator tracker approach

    NASA Technical Reports Server (NTRS)

    Balas, Mark; Kaufman, Howard; Wen, John

    1984-01-01

    The topics are presented in view graph form and include the following: an adaptive model following control; adaptive control of a distributed parameter system (DPS) with a finite-dimensional controller; a direct adaptive controller; a closed-loop adaptively controlled DPS; Lyapunov stability; the asymptotic stability of the closed loop; and model control of a simply supported beam.

  7. Exoskeleton control for lower-extremity assistance based on adaptive frequency oscillators: adaptation of muscle activation and movement frequency.

    PubMed

    Aguirre-Ollinger, Gabriel

    2015-01-01

    In this article, we analyze a novel strategy for assisting the lower extremities based on adaptive frequency oscillators. Our aim is to use the control algorithm presented here as a building block for the control of powered lower-limb exoskeletons. The algorithm assists cyclic movements of the human extremities by synchronizing actuator torques with the estimated net torque exerted by the muscles. Synchronization is produced by a nonlinear dynamical system combining an adaptive frequency oscillator with a form of adaptive Fourier analysis. The system extracts, in real time, the fundamental frequency component of the net muscle torque acting on a specific joint. Said component, nearly sinusoidal in shape, is the basis for the assistive torque waveform delivered by the exoskeleton. The action of the exoskeleton can be interpreted as a virtual reduction in the mechanical impedance of the leg. We studied the ability of human subjects to adapt their muscle activation to the assistive torque. Ten subjects swung their extended leg while coupled to a stationary hip joint exoskeleton. The experiment yielded a significant decrease, with respect to unassisted movement, of the activation levels of an agonist/antagonist pair of muscles controlling the hip joint's motion, which suggests the exoskeleton control has potential for assisting human gait. A moderate increase in swing frequency was observed as well. We theorize that the increase in frequency can be explained by the impedance model of the assisted leg. Per this model, subjects adjust their swing frequency in order to control the amount of reduction in net muscle torque.

  8. Adaptive Neural Network Motion Control of Manipulators with Experimental Evaluations

    PubMed Central

    Puga-Guzmán, S.; Moreno-Valenzuela, J.; Santibáñez, V.

    2014-01-01

    A nonlinear proportional-derivative controller plus adaptive neuronal network compensation is proposed. With the aim of estimating the desired torque, a two-layer neural network is used. Then, adaptation laws for the neural network weights are derived. Asymptotic convergence of the position and velocity tracking errors is proven, while the neural network weights are shown to be uniformly bounded. The proposed scheme has been experimentally validated in real time. These experimental evaluations were carried in two different mechanical systems: a horizontal two degrees-of-freedom robot and a vertical one degree-of-freedom arm which is affected by the gravitational force. In each one of the two experimental set-ups, the proposed scheme was implemented without and with adaptive neural network compensation. Experimental results confirmed the tracking accuracy of the proposed adaptive neural network-based controller. PMID:24574910

  9. Adaptive neural network motion control of manipulators with experimental evaluations.

    PubMed

    Puga-Guzmán, S; Moreno-Valenzuela, J; Santibáñez, V

    2014-01-01

    A nonlinear proportional-derivative controller plus adaptive neuronal network compensation is proposed. With the aim of estimating the desired torque, a two-layer neural network is used. Then, adaptation laws for the neural network weights are derived. Asymptotic convergence of the position and velocity tracking errors is proven, while the neural network weights are shown to be uniformly bounded. The proposed scheme has been experimentally validated in real time. These experimental evaluations were carried in two different mechanical systems: a horizontal two degrees-of-freedom robot and a vertical one degree-of-freedom arm which is affected by the gravitational force. In each one of the two experimental set-ups, the proposed scheme was implemented without and with adaptive neural network compensation. Experimental results confirmed the tracking accuracy of the proposed adaptive neural network-based controller.

  10. On Using Exponential Parameter Estimators with an Adaptive Controller

    NASA Technical Reports Server (NTRS)

    Patre, Parag; Joshi, Suresh M.

    2011-01-01

    Typical adaptive controllers are restricted to using a specific update law to generate parameter estimates. This paper investigates the possibility of using any exponential parameter estimator with an adaptive controller such that the system tracks a desired trajectory. The goal is to provide flexibility in choosing any update law suitable for a given application. The development relies on a previously developed concept of controller/update law modularity in the adaptive control literature, and the use of a converse Lyapunov-like theorem. Stability analysis is presented to derive gain conditions under which this is possible, and inferences are made about the tracking error performance. The development is based on a class of Euler-Lagrange systems that are used to model various engineering systems including space robots and manipulators.

  11. An Adaptive Speed Control System for Micro Electro Discharge Machining

    NASA Astrophysics Data System (ADS)

    Yeo, S. H.; Aligiri, E.; Tan, P. C.; Zarepour, H.

    2009-11-01

    The integration of the state-of-the-art monitoring and adaptive control technologies can substantially improve the performance of EDM process. This paper reports the development of an adaptive speed control system for micro EDM which demands a higher level of accuracy. Monitoring of the machining state is conducted during the machining process so that the conditions are analysed continuously. Various schemes for the machining state are used for decision making. For instance, upon recognition of abnormal discharges, the developed adaptive speed control system would adjust the electrode feeding speed in an attempt to correct the machining state. Experimental verification shows that the proposed system can improve the machining time by more than 50%. In addition, a more accurate machined feature can be produced as compared to traditional EDM servo control systems.

  12. Adaptive Control of Truss Structures for Gossamer Spacecraft

    NASA Technical Reports Server (NTRS)

    Yang, Bong-Jun; Calise, Anthony J.; Craig, James I.; Whorton, Mark S.

    2007-01-01

    Neural network-based adaptive control is considered for active control of a highly flexible truss structure which may be used to support solar sail membranes. The objective is to suppress unwanted vibrations in SAFE (Solar Array Flight Experiment) boom, a test-bed located at NASA. Compared to previous tests that restrained truss structures in planar motion, full three dimensional motions are tested. Experimental results illustrate the potential of adaptive control in compensating for nonlinear actuation and modeling error, and in rejecting external disturbances.

  13. A Decentralized Adaptive Approach to Fault Tolerant Flight Control

    NASA Technical Reports Server (NTRS)

    Wu, N. Eva; Nikulin, Vladimir; Heimes, Felix; Shormin, Victor

    2000-01-01

    This paper briefly reports some results of our study on the application of a decentralized adaptive control approach to a 6 DOF nonlinear aircraft model. The simulation results showed the potential of using this approach to achieve fault tolerant control. Based on this observation and some analysis, the paper proposes a multiple channel adaptive control scheme that makes use of the functionally redundant actuating and sensing capabilities in the model, and explains how to implement the scheme to tolerate actuator and sensor failures. The conditions, under which the scheme is applicable, are stated in the paper.

  14. Real-time control system for adaptive resonator

    SciTech Connect

    Flath, L; An, J; Brase, J; Hurd, R; Kartz, M; Sawvel, R; Silva, D

    2000-07-24

    Sustained operation of high average power solid-state lasers currently requires an adaptive resonator to produce the optimal beam quality. We describe the architecture of a real-time adaptive control system for correcting intra-cavity aberrations in a heat capacity laser. Image data collected from a wavefront sensor are processed and used to control phase with a high-spatial-resolution deformable mirror. Our controller takes advantage of recent developments in low-cost, high-performance processor technology. A desktop-based computational engine and object-oriented software architecture replaces the high-cost rack-mount embedded computers of previous systems.

  15. [Germination strategy and ecological adaptability of Eragrostis pilosa].

    PubMed

    Li, Xuehua; Li, Xiaola; Jiang, Deming; Liu, Zhimin

    2006-04-01

    The study on the germination strategy of Eragrostis pilosa under different storage and environmental conditions showed that freshly collected E. pilosa seeds had a stronger innate dormancy. Chilling and dry storage for 4 months had no obvious effect on releasing from dormancy, while longer time storage could facilitate seed maturation. The seeds could germinate either in light or in darkness, and stronger light was in favor of germination. The optimal temperature for germination was 28 degrees C, while higher or lower temperature could result in the decrease of germination. The germination percentage of seeds under changed temperature (16 to 28 degrees C) was higher than that under constant temperature (28 degrees C), but with no significant difference. The critical amount of rain for seed germination was about 10 mm, and the germination percentage and duration all increased with increasing rainfall. E. pilosa had two germination strategies, i. e., quick germination and dormancy for more than one year. Based on the seed morphological characters and germination strategies, it could be concluded that E. pilosa had a persistent soil seed bank.

  16. Adaptive Power Control for Space Communications

    NASA Technical Reports Server (NTRS)

    Thompson, Willie L., II; Israel, David J.

    2008-01-01

    This paper investigates the implementation of power control techniques for crosslinks communications during a rendezvous scenario of the Crew Exploration Vehicle (CEV) and the Lunar Surface Access Module (LSAM). During the rendezvous, NASA requires that the CEV supports two communication links: space-to-ground and crosslink simultaneously. The crosslink will generate excess interference to the space-to-ground link as the distances between the two vehicles decreases, if the output power is fixed and optimized for the worst-case link analysis at the maximum distance range. As a result, power control is required to maintain the optimal power level for the crosslink without interfering with the space-to-ground link. A proof-of-concept will be described and implemented with Goddard Space Flight Center (GSFC) Communications, Standard, and Technology Lab (CSTL).

  17. Adapting Inspection Data for Computer Numerical Control

    NASA Technical Reports Server (NTRS)

    Hutchison, E. E.

    1986-01-01

    Machining time for repetitive tasks reduced. Program converts measurements of stub post locations by coordinate-measuring machine into form used by numerical-control computer. Work time thus reduced by 10 to 15 minutes for each post. Since there are 600 such posts on each injector, time saved per injector is 100 to 150 hours. With modifications this approach applicable to machining of many precise holes on large machine frames and similar objects.

  18. Digital adaptive control laws for the F-8

    NASA Technical Reports Server (NTRS)

    Hartmann, G. L.; Harvey, C. A.

    1976-01-01

    NASA is conducting a flight control research program in digital fly-by-wire technology using a modified F-8C aircraft. The first phase of this program used Apollo hardware to demonstrate the practicality of digital fly-by-wire in an actual test vehicle. For the second phase, conventional aircraft sensors and a large floating point digital computer are being utilized to test advanced control laws and redundancy concepts. As part of NASA's research in digital fly-by-wire technology, Honeywell developed digital adaptive flight control laws for flight test in the F-8C. Adaptation of the control laws was to be based on information sensed from conventional aircraft sensors excluding air data. The control laws were constrained to use only existing elevator, rudder, and ailerons as control effectors, each powered by existing actuators. Three adaptive control laws were successfully designed using maximum likelihood estimation, a Liapunov stable model tracker and a self-excited limit cycle concept. The maximum likelihood estimation design was selected as the most promising because of its capability to identify more than surface effectiveness parameters. The adaptive concepts, the control laws and comparisons of predicted performance are described.

  19. An adaptive precision gradient method for optimal control.

    NASA Technical Reports Server (NTRS)

    Klessig, R.; Polak, E.

    1973-01-01

    This paper presents a gradient algorithm for unconstrained optimal control problems. The algorithm is stated in terms of numerical integration formulas, the precision of which is controlled adaptively by a test that ensures convergence. Empirical results show that this algorithm is considerably faster than its fixed precision counterpart.-

  20. Adaptive control of a manipulator with a flexible link

    NASA Technical Reports Server (NTRS)

    Yang, Y. P.; Gibson, J. S.

    1988-01-01

    An adaptive controller for a manipulator with one rigid link and one flexible link is presented. The performance and robustness of the controller are demonstrated by numerical simulation results. In the simulations, the manipulator moves in a gravitational field and a finite element model represents the flexible link.

  1. Development of adaptive control applied to chaotic systems

    NASA Astrophysics Data System (ADS)

    Rhode, Martin Andreas

    1997-12-01

    Continuous-time derivative control and adaptive map-based recursive feedback control techniques are used to control chaos in a variety of systems and in situations that are of practical interest. The theoretical part of the research includes the review of fundamental concept of control theory in the context of its applications to deterministic chaotic systems, the development of a new adaptive algorithm to identify the linear system properties necessary for control, and the extension of the recursive proportional feedback control technique, RPF, to high dimensional systems. Chaos control was applied to models of a thermal pulsed combustor, electro-chemical dissolution and the hyperchaotic Rossler system. Important implications for combustion engineering were suggested by successful control of the model of the thermal pulsed combustor. The system was automatically tracked while maintaining control into regions of parameter and state space where no stable attractors exist. In a simulation of the electrochemical dissolution system, application of derivative control to stabilize a steady state, and adaptive RPF to stabilize a period one orbit, was demonstrated. The high dimensional adaptive control algorithm was applied in a simulation using the Rossler hyperchaotic system, where a period-two orbit with two unstable directions was stabilized and tracked over a wide range of a system parameter. In the experimental part, the electrochemical system was studied in parameter space, by scanning the applied potential and the frequency of the rotating copper disk. The automated control algorithm is demonstrated to be effective when applied to stabilize a period-one orbit in the experiment. We show the necessity of small random perturbations applied to the system in order to both learn the dynamics and control the system at the same time. The simultaneous learning and control capability is shown to be an important part of the active feedback control.

  2. Discrimination Power Control for Adaptive Target Tracking Applications

    DTIC Science & Technology

    2008-07-01

    Discriminat ion power cont ro l fo r adaptive target tracking applications A. Benaskeur F. Rhéaume DRDC Valcartier Defence R&D Canada – Valcartier...Technical Report DRDC Valcartier TR 2008-016 July 2008 Discrimination power control for adaptive target tracking applications A. Benaskeur F...nationale, 2008 Abstract This report addresses the problem of discrimination power in target tracking applications . More specifically, a closed-loop

  3. Algebraic and adaptive learning in neural control systems

    NASA Astrophysics Data System (ADS)

    Ferrari, Silvia

    A systematic approach is developed for designing adaptive and reconfigurable nonlinear control systems that are applicable to plants modeled by ordinary differential equations. The nonlinear controller comprising a network of neural networks is taught using a two-phase learning procedure realized through novel techniques for initialization, on-line training, and adaptive critic design. A critical observation is that the gradients of the functions defined by the neural networks must equal corresponding linear gain matrices at chosen operating points. On-line training is based on a dual heuristic adaptive critic architecture that improves control for large, coupled motions by accounting for actual plant dynamics and nonlinear effects. An action network computes the optimal control law; a critic network predicts the derivative of the cost-to-go with respect to the state. Both networks are algebraically initialized based on prior knowledge of satisfactory pointwise linear controllers and continue to adapt on line during full-scale simulations of the plant. On-line training takes place sequentially over discrete periods of time and involves several numerical procedures. A backpropagating algorithm called Resilient Backpropagation is modified and successfully implemented to meet these objectives, without excessive computational expense. This adaptive controller is as conservative as the linear designs and as effective as a global nonlinear controller. The method is successfully implemented for the full-envelope control of a six-degree-of-freedom aircraft simulation. The results show that the on-line adaptation brings about improved performance with respect to the initialization phase during aircraft maneuvers that involve large-angle and coupled dynamics, and parameter variations.

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

    NASA Technical Reports Server (NTRS)

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

    1987-01-01

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

  5. Adaptive control of large space structures using recursive lattice filters

    NASA Technical Reports Server (NTRS)

    Goglia, G. L.

    1985-01-01

    The use of recursive lattice filters for identification and adaptive control of large space structures was studied. Lattice filters are used widely in the areas of speech and signal processing. Herein, they are used to identify the structural dynamics model of the flexible structures. This identified model is then used for adaptive control. Before the identified model and control laws are integrated, the identified model is passed through a series of validation procedures and only when the model passes these validation procedures control is engaged. This type of validation scheme prevents instability when the overall loop is closed. The results obtained from simulation were compared to those obtained from experiments. In this regard, the flexible beam and grid apparatus at the Aerospace Control Research Lab (ACRL) of NASA Langley Research Center were used as the principal candidates for carrying out the above tasks. Another important area of research, namely that of robust controller synthesis, was investigated using frequency domain multivariable controller synthesis methods.

  6. Using a social justice and health framework to assess European climate change adaptation strategies.

    PubMed

    Boeckmann, Melanie; Zeeb, Hajo

    2014-11-28

    Climate change puts pressure on existing health vulnerabilities through higher frequency of extreme weather events, changes in disease vector distribution or exacerbated air pollution. Climate change adaptation policies may hold potential to reduce societal inequities. We assessed the role of public health and social justice in European climate change adaptation using a three-fold approach: a document analysis, a critical discourse analysis of a subgroup of strategies, and a ranking of strategies against our social justice framework. The ranking approach favored planning that includes various adaptation types, social issues and infrastructure changes. Themes on values identified in the five subgroup documents showed that risks are perceived as contradictory, technology is viewed as savior, responsibilities need to be negotiated, and social justice is advocated by only a few countries. Of 21 strategy documents assessed overall, those from Austria, England and Sweden received the highest scores in the ranking. Our qualitative assessment showed that in European adaptation planning, progress could still be made through community involvement into adaptation decisions, consistent consideration of social and demographic determinants, and a stronger link between infrastructural adaptation and the health sector. Overall, a social justice framework can serve as an evaluation guideline for adaptation policy documents.

  7. Using a Social Justice and Health Framework to Assess European Climate Change Adaptation Strategies

    PubMed Central

    Boeckmann, Melanie; Zeeb, Hajo

    2014-01-01

    Climate change puts pressure on existing health vulnerabilities through higher frequency of extreme weather events, changes in disease vector distribution or exacerbated air pollution. Climate change adaptation policies may hold potential to reduce societal inequities. We assessed the role of public health and social justice in European climate change adaptation using a three-fold approach: a document analysis, a critical discourse analysis of a subgroup of strategies, and a ranking of strategies against our social justice framework. The ranking approach favored planning that includes various adaptation types, social issues and infrastructure changes. Themes on values identified in the five subgroup documents showed that risks are perceived as contradictory, technology is viewed as savior, responsibilities need to be negotiated, and social justice is advocated by only a few countries. Of 21 strategy documents assessed overall, those from Austria, England and Sweden received the highest scores in the ranking. Our qualitative assessment showed that in European adaptation planning, progress could still be made through community involvement into adaptation decisions, consistent consideration of social and demographic determinants, and a stronger link between infrastructural adaptation and the health sector. Overall, a social justice framework can serve as an evaluation guideline for adaptation policy documents. PMID:25464133

  8. The Basal Ganglia and Adaptive Motor Control

    NASA Astrophysics Data System (ADS)

    Graybiel, Ann M.; Aosaki, Toshihiko; Flaherty, Alice W.; Kimura, Minoru

    1994-09-01

    The basal ganglia are neural structures within the motor and cognitive control circuits in the mammalian forebrain and are interconnected with the neocortex by multiple loops. Dysfunction in these parallel loops caused by damage to the striatum results in major defects in voluntary movement, exemplified in Parkinson's disease and Huntington's disease. These parallel loops have a distributed modular architecture resembling local expert architectures of computational learning models. During sensorimotor learning, such distributed networks may be coordinated by widely spaced striatal interneurons that acquire response properties on the basis of experienced reward.

  9. Hybrid adaptive optimal control of anaerobic fluidized bed bioreactor for the de-icing waste treatment.

    PubMed

    Seok, Jonghyuk

    2003-04-24

    Hybrid adaptive control strategy was developed and tested for the degradation of propylene glycol, a major component in de-icing waste, in an anaerobic fluidized bed bioreactor (AFBR). A linearized model with time-varying parameters was first employed to describe the dynamic behavior of the AFBR using a recursive off-line system identification method. A hybrid adaptive control strategy was then tested using a recursive off-line system identification routine followed by an on-line adaptive optimal control algorithm. The objective of the controller was to achieve the desired set point value of the propionate concentration (stand-alone control output variable) by manipulating the dilution rate (control input variable). To do so, the optimal control law was developed by minimizing a cost function with constraint equations. This novel idea was successfully applied to the underlying system for 200 h. The set point (700 mg HPrl(-1)) was achieved even in the case where the feed concentration suddenly increased by 50% (9000 mg HPrl(-1) to 13500 mg HPrl(-1)).

  10. Adaptive strategies in nocturnally migrating insects and songbirds: contrasting responses to wind.

    PubMed

    Chapman, Jason W; Nilsson, Cecilia; Lim, Ka S; Bäckman, Johan; Reynolds, Don R; Alerstam, Thomas

    2016-01-01

    Animals that use flight as their mode of transportation must cope with the fact that their migration and orientation performance is strongly affected by the flow of the medium they are moving in, that is by the winds. Different strategies can be used to mitigate the negative effects and benefit from the positive effects of a moving flow. The strategies an animal can use will be constrained by the relationship between the speed of the flow and the speed of the animal's own propulsion in relation to the surrounding air. Here we analyse entomological and ornithological radar data from north-western Europe to investigate how two different nocturnal migrant taxa, the noctuid moth Autographa gamma and songbirds, deal with wind by analysing variation in resulting flight directions in relation to the wind-dependent angle between the animal's heading and track direction. Our results, from fixed locations along the migratory journey, reveal different global strategies used by moths and songbirds during their migratory journeys. As expected, nocturnally migrating moths experienced a greater degree of wind drift than nocturnally migrating songbirds, but both groups were more affected by wind in autumn than in spring. The songbirds' strategies involve elements of both drift and compensation, providing some benefits from wind in combination with destination and time control. In contrast, moths expose themselves to a significantly higher degree of drift in order to obtain strong wind assistance, surpassing the songbirds in mean ground speed, at the cost of a comparatively lower spatiotemporal migratory precision. Moths and songbirds show contrasting but adaptive responses to migrating through a moving flow, which are fine-tuned to the respective flight capabilities of each group in relation to the wind currents they travel within.

  11. A New Method for the Adaptive Control of Vortex-Wall Interactions

    NASA Technical Reports Server (NTRS)

    Koumoutsakos, P.

    1996-01-01

    The control of vortical flows is gaining significance in the design of aeronautical and marine structures. While passive devices have been used effectively in the past, active control strategies have the potential of allowing a leap in the performance of future configurations. The efficiency of control schemes is strongly dependent on the development of accurate flow models that can be devised using information that is available not only from numerical solutions of the governing Navier-Stokes equations but also can be measured experimentally. In that context it is desirable to construct adaptive control schemes using information that can be measured at the wall.

  12. Control strategies for effective robot assisted gait rehabilitation: the state of art and future prospects.

    PubMed

    Cao, Jinghui; Xie, Sheng Quan; Das, Raj; Zhu, Guo L

    2014-12-01

    A large number of gait rehabilitation robots, together with a variety of control strategies, have been developed and evaluated during the last decade. Initially, control strategies applied to rehabilitation robots were adapted from those applied to traditional industrial robots. However, these strategies cannot optimise effectiveness of gait rehabilitation. As a result, researchers have been investigating control strategies tailored for the needs of rehabilitation. Among these control strategies, assisted-as-needed (AAN) control is one of the most popular research topics in this field. AAN training strategies have gained the theoretical and practical evidence based backup from motor learning principles and clinical studies. Various approaches to AAN training have been proposed and investigated by research groups all around the world. This article presents a review on control algorithms of gait rehabilitation robots to summarise related knowledge and investigate potential trends of development. There are existing review papers on control strategies of rehabilitation robots. The review by Marchal-Crespo and Reinkensmeyer (2009) had a broad cover of control strategies of all kinds of rehabilitation robots. Hussain et al. (2011) had specifically focused on treadmill gait training robots and covered a limited number of control implementations on them. This review article encompasses more detailed information on control strategies for robot assisted gait rehabilitation, but is not limited to treadmill based training. It also investigates the potential to further develop assist-as-needed gait training based on assessments of patients' ability. In this paper, control strategies are generally divided into the trajectory tracking control and AAN control. The review covers these two basic categories, as well as other control algorithm and technologies derived from them, such as biofeedback control. Assessments on human gait ability are also included to investigate how to

  13. Adaptive mass expulsion attitude control system

    NASA Technical Reports Server (NTRS)

    Rodden, John J. (Inventor); Stevens, Homer D. (Inventor); Carrou, Stephane (Inventor)

    2001-01-01

    An attitude control system and method operative with a thruster controls the attitude of a vehicle carrying the thruster, wherein the thruster has a valve enabling the formation of pulses of expelled gas from a source of compressed gas. Data of the attitude of the vehicle is gathered, wherein the vehicle is located within a force field tending to orient the vehicle in a first attitude different from a desired attitude. The attitude data is evaluated to determine a pattern of values of attitude of the vehicle in response to the gas pulses of the thruster and in response to the force field. The system and the method maintain the attitude within a predetermined band of values of attitude which includes the desired attitude. Computation circuitry establishes an optimal duration of each of the gas pulses based on the pattern of values of attitude, the optimal duration providing for a minimal number of opening and closure operations of the valve. The thruster is operated to provide gas pulses having the optimal duration.

  14. Adapting End Host Congestion Control for Mobility

    NASA Technical Reports Server (NTRS)

    Eddy, Wesley M.; Swami, Yogesh P.

    2005-01-01

    Network layer mobility allows transport protocols to maintain connection state, despite changes in a node's physical location and point of network connectivity. However, some congestion-controlled transport protocols are not designed to deal with these rapid and potentially significant path changes. In this paper we demonstrate several distinct problems that mobility-induced path changes can create for TCP performance. Our premise is that mobility events indicate path changes that require re-initialization of congestion control state at both connection end points. We present the application of this idea to TCP in the form of a simple solution (the Lightweight Mobility Detection and Response algorithm, that has been proposed in the IETF), and examine its effectiveness. In general, we find that the deficiencies presented are both relatively easily and painlessly fixed using this solution. We also find that this solution has the counter-intuitive property of being both more friendly to competing traffic, and simultaneously more aggressive in utilizing newly available capacity than unmodified TCP.

  15. Adaptive Neural Network Based Control of Noncanonical Nonlinear Systems.

    PubMed

    Zhang, Yanjun; Tao, Gang; Chen, Mou

    2016-09-01

    This paper presents a new study on the adaptive neural network-based control of a class of noncanonical nonlinear systems with large parametric uncertainties. Unlike commonly studied canonical form nonlinear systems whose neural network approximation system models have explicit relative degree structures, which can directly be used to derive parameterized controllers for adaptation, noncanonical form nonlinear systems usually do not have explicit relative degrees, and thus their approximation system models are also in noncanonical forms. It is well-known that the adaptive control of noncanonical form nonlinear systems involves the parameterization of system dynamics. As demonstrated in this paper, it is also the case for noncanonical neural network approximation system models. Effective control of such systems is an open research problem, especially in the presence of uncertain parameters. This paper shows that it is necessary to reparameterize such neural network system models for adaptive control design, and that such reparameterization can be realized using a relative degree formulation, a concept yet to be studied for general neural network system models. This paper then derives the parameterized controllers that guarantee closed-loop stability and asymptotic output tracking for noncanonical form neural network system models. An illustrative example is presented with the simulation results to demonstrate the control design procedure, and to verify the effectiveness of such a new design method.

  16. Residual mode filters and adaptive control in large space structures

    NASA Technical Reports Server (NTRS)

    Davidson, Roger A.; Balas, Mark J.

    1989-01-01

    One of the most difficult problems in controlling large systems and structures is compensating for the destructive interaction which can occur between the reduced-order model (ROM) of the plant, which is used by the controller, and the unmodeled dynamics of the plant, often called the residual modes. The problem is more significant in the case of large space structures because their naturally light damping and high performance requirements lead to more frequent, destructive residual mode interaction (RMI). Using the design/compensation technique of residual mode filters (RMF's), effective compensation of RMI can be accomplished in a straightforward manner when using linear controllers. The use of RMF's has been shown to be effective for a variety of large structures, including a space-based laser and infinite dimensional systems. However, the dynamics of space structures is often uncertain and may even change over time due to on-orbit erosion from space debris and corrosive chemicals in the upper atmosphere. In this case, adaptive control can be extremely beneficial in meeting the performance requirements of the structure. Adaptive control for large structures is also based on ROM's and so destructive RMI may occur. Unfortunately, adaptive control is inherently nonlinear, and therefore the known results of RMF's cannot be applied. The purpose is to present the results of new research showing the effects of RMI when using adaptive control and the work which will hopefully lead to RMF compensation of this problem.

  17. Self-Tuning Adaptive-Controller Using Online Frequency Identification

    NASA Technical Reports Server (NTRS)

    Chiang, W. W.; Cannon, R. H., Jr.

    1985-01-01

    A real time adaptive controller was designed and tested successfully on a fourth order laboratory dynamic system which features very low structural damping and a noncolocated actuator sensor pair. The controller, implemented in a digital minicomputer, consists of a state estimator, a set of state feedback gains, and a frequency locked loop (FLL) for real time parameter identification. The FLL can detect the closed loop natural frequency of the system being controlled, calculate the mismatch between a plant parameter and its counterpart in the state estimator, and correct the estimator parameter in real time. The adaptation algorithm can correct the controller error and stabilize the system for more than 50% variation in the plant natural frequency, compared with a 10% stability margin in frequency variation for a fixed gain controller having the same performance at the nominal plant condition. After it has locked to the correct plant frequency, the adaptive controller works as well as the fixed gain controller does when there is no parameter mismatch. The very rapid convergence of this adaptive system is demonstrated experimentally, and can also be proven with simple root locus methods.

  18. Optimal control of gene expression for fast proteome adaptation to environmental change.

    PubMed

    Pavlov, Michael Y; Ehrenberg, Måns

    2013-12-17

    Bacterial populations growing in a changing world must adjust their proteome composition in response to alterations in the environment. Rapid proteome responses to growth medium changes are expected to increase the average growth rate and fitness value of these populations. Little is known about the dynamics of proteome change, e.g., whether bacteria use optimal strategies of gene expression for rapid proteome adjustments and if there are lower bounds to the time of proteome adaptation in response to growth medium changes. To begin answering these types of questions, we modeled growing bacteria as stoichiometrically coupled networks of metabolic pathways. These are balanced during steady-state growth in a constant environment but are initially unbalanced after rapid medium shifts due to a shortage of enzymes required at higher concentrations in the new environment. We identified an optimal strategy for rapid proteome adjustment in the absence of protein degradation and found a lower bound to the time of proteome adaptation after medium shifts. This minimal time is determined by the ratio between the Kullback-Leibler distance from the pre- to the postshift proteome and the postshift steady-state growth rate. The dynamics of optimally controlled proteome adaptation has a simple analytical solution. We used detailed numerical modeling to demonstrate that realistic bacterial control systems can emulate this optimal strategy for rapid proteome adaptation. Our results may provide a conceptual link between the physiology and population genetics of growing bacteria.

  19. Optimal control of gene expression for fast proteome adaptation to environmental change

    PubMed Central

    Pavlov, Michael Y.; Ehrenberg, Måns

    2013-01-01

    Bacterial populations growing in a changing world must adjust their proteome composition in response to alterations in the environment. Rapid proteome responses to growth medium changes are expected to increase the average growth rate and fitness value of these populations. Little is known about the dynamics of proteome change, e.g., whether bacteria use optimal strategies of gene expression for rapid proteome adjustments and if there are lower bounds to the time of proteome adaptation in response to growth medium changes. To begin answering these types of questions, we modeled growing bacteria as stoichiometrically coupled networks of metabolic pathways. These are balanced during steady-state growth in a constant environment but are initially unbalanced after rapid medium shifts due to a shortage of enzymes required at higher concentrations in the new environment. We identified an optimal strategy for rapid proteome adjustment in the absence of protein degradation and found a lower bound to the time of proteome adaptation after medium shifts. This minimal time is determined by the ratio between the Kullback–Leibler distance from the pre- to the postshift proteome and the postshift steady-state growth rate. The dynamics of optimally controlled proteome adaptation has a simple analytical solution. We used detailed numerical modeling to demonstrate that realistic bacterial control systems can emulate this optimal strategy for rapid proteome adaptation. Our results may provide a conceptual link between the physiology and population genetics of growing bacteria. PMID:24297927

  20. Control strategies for systems with limited actuators

    NASA Technical Reports Server (NTRS)

    Marcopoli, Vincent R.; Phillips, Stephen M.

    1994-01-01

    This work investigates the effects of actuator saturation in multi-input, multi-output (MIMO) control systems. The adverse system behavior introduced by the saturation nonlinearity is viewed here as resulting from two mechanisms: controller windup - a problem caused by the discrepancy between the limited actuator commands and the corresponding control signals, and directionality - the problem of how to use nonlimited actuators when a limited condition exists. The tracking mode and Hanus methods are two common strategies for dealing with the windup problem. It is seen that while these methods alleviate windup, performance problems remain due to plant directionality. Though high gain conventional antiwindup as well as more general linear methods have the potential to address both windup and directionality, no systematic design method for these schemes has emerged; most approaches used in practice are application driven. An alternative method of addressing the directionality problem is presented which involves the introduction of a control direction preserving nonlinearity to the Hanus antiwindup system. A nonlinearity is subsequently proposed which reduces the conservation inherent in the former direction-preserving approach, improving performance. The concept of multivariable sensitivity is seen to play a key role in the success of the new method.

  1. 40 CFR 52.2584 - Control strategy; Particulate matter.

    Code of Federal Regulations, 2012 CFR

    2012-07-01

    ... 40 Protection of Environment 5 2012-07-01 2012-07-01 false Control strategy; Particulate matter... Control strategy; Particulate matter. (a) Part D—Disapproval—USEPA disapproves Regulation NR 154.11(7)(b... control strategy to attain and maintain the standards for particulate matter, because it does not...

  2. 40 CFR 52.2584 - Control strategy; Particulate matter.

    Code of Federal Regulations, 2010 CFR

    2010-07-01

    ... 40 Protection of Environment 4 2010-07-01 2010-07-01 false Control strategy; Particulate matter... Control strategy; Particulate matter. (a) Part D—Disapproval—USEPA disapproves Regulation NR 154.11(7)(b... control strategy to attain and maintain the standards for particulate matter, because it does not...

  3. 40 CFR 52.2584 - Control strategy; Particulate matter.

    Code of Federal Regulations, 2014 CFR

    2014-07-01

    ... 40 Protection of Environment 5 2014-07-01 2014-07-01 false Control strategy; Particulate matter... Control strategy; Particulate matter. (a) Part D—Disapproval—USEPA disapproves Regulation NR 154.11(7)(b... control strategy to attain and maintain the standards for particulate matter, because it does not...

  4. 40 CFR 52.2584 - Control strategy; Particulate matter.

    Code of Federal Regulations, 2013 CFR

    2013-07-01

    ... 40 Protection of Environment 5 2013-07-01 2013-07-01 false Control strategy; Particulate matter... Control strategy; Particulate matter. (a) Part D—Disapproval—USEPA disapproves Regulation NR 154.11(7)(b... control strategy to attain and maintain the standards for particulate matter, because it does not...

  5. 40 CFR 52.2584 - Control strategy; Particulate matter.

    Code of Federal Regulations, 2011 CFR

    2011-07-01

    ... 40 Protection of Environment 4 2011-07-01 2011-07-01 false Control strategy; Particulate matter... Control strategy; Particulate matter. (a) Part D—Disapproval—USEPA disapproves Regulation NR 154.11(7)(b... control strategy to attain and maintain the standards for particulate matter, because it does not...

  6. 40 CFR 123.46 - Individual control strategies.

    Code of Federal Regulations, 2010 CFR

    2010-07-01

    ... 40 Protection of Environment 21 2010-07-01 2010-07-01 false Individual control strategies. 123.46... PROGRAM REQUIREMENTS Transfer of Information and Permit Review § 123.46 Individual control strategies. (a..., approval, and implementation an individual control strategy for each point source identified by the...

  7. 40 CFR 52.582 - Control strategy: Ozone.

    Code of Federal Regulations, 2011 CFR

    2011-07-01

    ... 40 Protection of Environment 3 2011-07-01 2011-07-01 false Control strategy: Ozone. 52.582 Section...) APPROVAL AND PROMULGATION OF IMPLEMENTATION PLANS Georgia> § 52.582 Control strategy: Ozone. Link to an... added text is set forth as follows: § 52.582 Control strategy: Ozone. (d) Determination of...

  8. A Structure-Adaptive Hybrid RBF-BP Classifier with an Optimized Learning Strategy.

    PubMed

    Wen, Hui; Xie, Weixin; Pei, Jihong

    2016-01-01

    This paper presents a structure-adaptive hybrid RBF-BP (SAHRBF-BP) classifier with an optimized learning strategy. SAHRBF-BP is composed of a structure-adaptive RBF network and a BP network of cascade, where the number of RBF hidden nodes is adjusted adaptively according to the distribution of sample space, the adaptive RBF network is used for nonlinear kernel mapping and the BP network is used for nonlinear classification. The optimized learning strategy is as follows: firstly, a potential function is introduced into training sample space to adaptively determine the number of initial RBF hidden nodes and node parameters, and a form of heterogeneous samples repulsive force is designed to further optimize each generated RBF hidden node parameters, the optimized structure-adaptive RBF network is used for adaptively nonlinear mapping the sample space; then, according to the number of adaptively generated RBF hidden nodes, the number of subsequent BP input nodes can be determined, and the overall SAHRBF-BP classifier is built up; finally, different training sample sets are used to train the BP network parameters in SAHRBF-BP. Compared with other algorithms applied to different data sets, experiments show the superiority of SAHRBF-BP. Especially on most low dimensional and large number of data sets, the classification performance of SAHRBF-BP outperforms other training SLFNs algorithms.

  9. A Structure-Adaptive Hybrid RBF-BP Classifier with an Optimized Learning Strategy

    PubMed Central

    Wen, Hui; Xie, Weixin; Pei, Jihong

    2016-01-01

    This paper presents a structure-adaptive hybrid RBF-BP (SAHRBF-BP) classifier with an optimized learning strategy. SAHRBF-BP is composed of a structure-adaptive RBF network and a BP network of cascade, where the number of RBF hidden nodes is adjusted adaptively according to the distribution of sample space, the adaptive RBF network is used for nonlinear kernel mapping and the BP network is used for nonlinear classification. The optimized learning strategy is as follows: firstly, a potential function is introduced into training sample space to adaptively determine the number of initial RBF hidden nodes and node parameters, and a form of heterogeneous samples repulsive force is designed to further optimize each generated RBF hidden node parameters, the optimized structure-adaptive RBF network is used for adaptively nonlinear mapping the sample space; then, according to the number of adaptively generated RBF hidden nodes, the number of subsequent BP input nodes can be determined, and the overall SAHRBF-BP classifier is built up; finally, different training sample sets are used to train the BP network parameters in SAHRBF-BP. Compared with other algorithms applied to different data sets, experiments show the superiority of SAHRBF-BP. Especially on most low dimensional and large number of data sets, the classification performance of SAHRBF-BP outperforms other training SLFNs algorithms. PMID:27792737

  10. Adaptive Performance Seeking Control Using Fuzzy Model Reference Learning Control and Positive Gradient Control

    NASA Technical Reports Server (NTRS)

    Kopasakis, George

    1997-01-01

    Performance Seeking Control attempts to find the operating condition that will generate optimal performance and control the plant at that operating condition. In this paper a nonlinear multivariable Adaptive Performance Seeking Control (APSC) methodology will be developed and it will be demonstrated on a nonlinear system. The APSC is comprised of the Positive Gradient Control (PGC) and the Fuzzy Model Reference Learning Control (FMRLC). The PGC computes the positive gradients of the desired performance function with respect to the control inputs in order to drive the plant set points to the operating point that will produce optimal performance. The PGC approach will be derived in this paper. The feedback control of the plant is performed by the FMRLC. For the FMRLC, the conventional fuzzy model reference learning control methodology is utilized, with guidelines generated here for the effective tuning of the FMRLC controller.

  11. Paratransgenesis: a promising new strategy for mosquito vector control.

    PubMed

    Wilke, André Barretto Bruno; Marrelli, Mauro Toledo

    2015-06-24

    The three main mosquito genera, Anopheles, Aedes and Culex, transmit respectively malaria, dengue and lymphatic filariasis. Current mosquito control strategies have proved unsuccessful, and there still is a substantial number of morbidity and mortality from these diseases. Genetic control methods have now arisen as promising alternative strategies, based on two approaches: the replacement of a vector population by disease-refractory mosquitoes and the release of mosquitoes carrying a lethal gene to suppress target populations. However, substantial hurdles and limitations need to be overcome if these methods are to be used successfully, the most significant being that a transgenic mosquito strain is required for every target species, making genetically modified mosquito strategies inviable when there are multiple vector mosquitoes in the same area. Genetically modified bacteria capable of colonizing a wide range of mosquito species may be a solution to this problem and another option for the control of these diseases. In the paratransgenic approach, symbiotic bacteria are genetically modified and reintroduced in mosquitoes, where they express effector molecules. For this approach to be used in practice, however, requires a better understanding of mosquito microbiota and that symbiotic bacteria and effector molecules be identified. Paratransgenesis could prove very useful in mosquito species that are inherently difficult to transform or in sibling species complexes. In this approach, a genetic modified bacteria can act by: (a) causing pathogenic effects in the host; (b) interfering with the host's reproduction; (c) reducing the vector's competence; and (d) interfering with oogenesis and embryogenesis. It is a much more flexible and adaptable approach than the use of genetically modified mosquitoes because effector molecules and symbiotic bacteria can be replaced if they do not achieve the desired result. Paratransgenesis may therefore become an important integrated

  12. Adaptive independent joint control of manipulators - Theory and experiment

    NASA Technical Reports Server (NTRS)

    Seraji, H.

    1988-01-01

    The author presents a simple decentralized adaptive control scheme for multijoint robot manipulators based on the independent joint control concept. The proposed control scheme for each joint consists of a PID (proportional integral and differential) feedback controller and a position-velocity-acceleration feedforward controller, both with adjustable gains. The static and dynamic couplings that exist between the joint motions are compensated by the adaptive independent joint controllers while ensuring trajectory tracking. The proposed scheme is implemented on a MicroVAX II computer for motion control of the first three joints of a PUMA 560 arm. Experimental results are presented to demonstrate that trajectory tracking is achieved despite strongly coupled, highly nonlinear joint dynamics. The results confirm that the proposed decentralized adaptive control of manipulators is feasible, in spite of strong interactions between joint motions. The control scheme presented is computationally very fast and is amenable to parallel processing implementation within a distributed computing architecture, where each joint is controlled independently by a simple algorithm on a dedicated microprocessor.

  13. Adaptive neural network consensus based control of robot formations

    NASA Astrophysics Data System (ADS)

    Guzey, H. M.; Sarangapani, Jagannathan

    2013-05-01

    In this paper, adaptive consensus based formation control scheme is derived for mobile robots in a pre-defined formation when full dynamics of the robots which include inertia, Corolis, and friction vector are considered. It is shown that dynamic uncertainties of robots can make overall formation unstable when traditional consensus scheme is utilized. In order to estimate the affine nonlinear robot dynamics, a NN based adaptive scheme is utilized. In addition to this adaptive feedback control input, an additional control input is introduced based on the consensus approach to make the robots keep their desired formation. Subsequently, the outer consensus loop is redesigned for reduced communication. Lyapunov theory is used to show the stability of overall system. Simulation results are included at the end.

  14. Adaptive control of large space structures using recursive lattice filters

    NASA Technical Reports Server (NTRS)

    Sundararajan, N.; Goglia, G. L.

    1985-01-01

    The use of recursive lattice filters for identification and adaptive control of large space structures is studied. Lattice filters were used to identify the structural dynamics model of the flexible structures. This identification model is then used for adaptive control. Before the identified model and control laws are integrated, the identified model is passed through a series of validation procedures and only when the model passes these validation procedures is control engaged. This type of validation scheme prevents instability when the overall loop is closed. Another important area of research, namely that of robust controller synthesis, was investigated using frequency domain multivariable controller synthesis methods. The method uses the Linear Quadratic Guassian/Loop Transfer Recovery (LQG/LTR) approach to ensure stability against unmodeled higher frequency modes and achieves the desired performance.

  15. Model-adaptive hybrid dynamic control for robotic assembly tasks

    SciTech Connect

    Austin, D.J.; McCarragher, B.J.

    1999-10-01

    A new task-level adaptive controller is presented for the hybrid dynamic control of robotic assembly tasks. Using a hybrid dynamic model of the assembly task, velocity constraints are derived from which satisfactory velocity commands are obtained. Due to modeling errors and parametric uncertainties, the velocity commands may be erroneous and may result in suboptimal performance. Task-level adaptive control schemes, based on the occurrence of discrete events, are used to change the model parameters from which the velocity commands are determined. Two adaptive schemes are presented: the first is based on intuitive reasoning about the vector spaces involved whereas the second uses a search region that is reduced with each iteration. For the first adaptation law, asymptotic convergence to the correct model parameters is proven except for one case. This weakness motivated the development of the second adaptation law, for which asymptotic convergence is proven in all cases. Automated control of a peg-in-hole assembly task is given as an example, and simulations and experiments for this task are presented. These results demonstrate the success of the method and also indicate properties for rapid convergence.

  16. Adaptive control system having hedge unit and related apparatus and methods

    NASA Technical Reports Server (NTRS)

    Johnson, Eric Norman (Inventor); Calise, Anthony J. (Inventor)

    2003-01-01

    The invention includes an adaptive control system used to control a plant. The adaptive control system includes a hedge unit that receives at least one control signal and a plant state signal. The hedge unit generates a hedge signal based on the control signal, the plant state signal, and a hedge model including a first model having one or more characteristics to which the adaptive control system is not to adapt, and a second model not having the characteristic(s) to which the adaptive control system is not to adapt. The hedge signal is used in the adaptive control system to remove the effect of the characteristic from a signal supplied to an adaptation law unit of the adaptive control system so that the adaptive control system does not adapt to the characteristic in controlling the plant.

  17. Adaptive control system having hedge unit and related apparatus and methods

    NASA Technical Reports Server (NTRS)

    Johnson, Eric Norman (Inventor); Calise, Anthony J. (Inventor)

    2007-01-01

    The invention includes an adaptive control system used to control a plant. The adaptive control system includes a hedge unit that receives at least one control signal and a plant state signal. The hedge unit generates a hedge signal based on the control signal, the plant state signal, and a hedge model including a first model having one or more characteristics to which the adaptive control system is not to adapt, and a second model not having the characteristic(s) to which the adaptive control system is not to adapt. The hedge signal is used in the adaptive control system to remove the effect of the characteristic from a signal supplied to an adaptation law unit of the adaptive control system so that the adaptive control system does not adapt to the characteristic in controlling the plant.

  18. Domain adaptation problems: a DASVM classification technique and a circular validation strategy.

    PubMed

    Bruzzone, Lorenzo; Marconcini, Mattia

    2010-05-01

    This paper addresses pattern classification in the framework of domain adaptation by considering methods that solve problems in which training data are assumed to be available only for a source domain different (even if related) from the target domain of (unlabeled) test data. Two main novel contributions are proposed: 1) a domain adaptation support vector machine (DASVM) technique which extends the formulation of support vector machines (SVMs) to the domain adaptation framework and 2) a circular indirect accuracy assessment strategy for validating the learning of domain adaptation classifiers when no true labels for the target--domain instances are available. Experimental results, obtained on a series of two-dimensional toy problems and on two real data sets related to brain computer interface and remote sensing applications, confirmed the effectiveness and the reliability of both the DASVM technique and the proposed circular validation strategy.

  19. Numerous strategies but limited implementation guidance in US local adaptation plans

    NASA Astrophysics Data System (ADS)

    Woodruff, Sierra C.; Stults, Missy

    2016-08-01

    Adaptation planning offers a promising approach for identifying and devising solutions to address local climate change impacts. Yet there is little empirical understanding of the content and quality of these plans. We use content analysis to evaluate 44 local adaptation plans in the United States and multivariate regression to examine how plan quality varies across communities. We find that plans draw on multiple data sources to analyse future climate impacts and include a breadth of strategies. Most plans, however, fail to prioritize impacts and strategies or provide detailed implementation processes, raising concerns about whether adaptation plans will translate into on-the-ground reductions in vulnerability. Our analysis also finds that plans authored by the planning department and those that engaged elected officials in the planning process were of higher quality. The results provide important insights for practitioners, policymakers and scientists wanting to improve local climate adaptation planning and action.

  20. An adaptive regularization parameter choice strategy for multispectral bioluminescence tomography

    SciTech Connect

    Feng Jinchao; Qin Chenghu; Jia Kebin; Han Dong; Liu Kai; Zhu Shouping; Yang Xin; Tian Jie

    2011-11-15

    Purpose: Bioluminescence tomography (BLT) provides an effective tool for monitoring physiological and pathological activities in vivo. However, the measured data in bioluminescence imaging are corrupted by noise. Therefore, regularization methods are commonly used to find a regularized solution. Nevertheless, for the quality of the reconstructed bioluminescent source obtained by regularization methods, the choice of the regularization parameters is crucial. To date, the selection of regularization parameters remains challenging. With regards to the above problems, the authors proposed a BLT reconstruction algorithm with an adaptive parameter choice rule. Methods: The proposed reconstruction algorithm uses a diffusion equation for modeling the bioluminescent photon transport. The diffusion equation is solved with a finite element method. Computed tomography (CT) images provide anatomical information regarding the geometry of the small animal and its internal organs. To reduce the ill-posedness of BLT, spectral information and the optimal permissible source region are employed. Then, the relationship between the unknown source distribution and multiview and multispectral boundary measurements is established based on the finite element method and the optimal permissible source region. Since the measured data are noisy, the BLT reconstruction is formulated as l{sub 2} data fidelity and a general regularization term. When choosing the regularization parameters for BLT, an efficient model function approach is proposed, which does not require knowledge of the noise level. This approach only requests the computation of the residual and regularized solution norm. With this knowledge, we construct the model function to approximate the objective function, and the regularization parameter is updated iteratively. Results: First, the micro-CT based mouse phantom was used for simulation verification. Simulation experiments were used to illustrate why multispectral data were used