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Sample records for autonomous decentralized systems

  1. Trend of Autonomous Decentralized System Technologies and Their Application in IC Card Ticket System

    NASA Astrophysics Data System (ADS)

    Mori, Kinji; Shiibashi, Akio

    The advancement of technology is ensured by step-by-step innovation and its implementation into society. Autonomous Decentralized Systems (ADSs) have been growing since first proposed in 1977. Since then, the ADS technologies and their implementations have interacted with the evolving markets, sciences, and technologies. The ADS concept is proposed on biological analogy, and its technologies have been advanced according to changing and expanding requirements. These technologies are now categorized into six generations on the basis of requirements and system structures, but the ADS concept and its system architecture have not changed. The requirements for the system can be divided in operation-oriented, mass service-oriented, and personal service-oriented categories. Moreover, these technologies have been realized in homogeneous system structure and, as the next step, in heterogeneous system structure. These technologies have been widely applied in manufacturing, telecommunications, information provision/utilization, data centers, transportation, and so on. They have been operating successfully throughout the world. In particular, ADS technologies have been applied in Suica, the IC card ticket system (ICCTS) for fare collection and e-commerce. This system is not only expanding in size and functionality but also its components are being modified almost every day without stopping its operation. This system and its technologies are shown here. Finally, the future direction of ADS is discussed, and one of its technologies is presented.

  2. Autonomous Decentralized Voltage Profile Control of Super Distributed Energy System using Multi-agent Technology

    NASA Astrophysics Data System (ADS)

    Tsuji, Takao; Hara, Ryoichi; Oyama, Tsutomu; Yasuda, Keiichiro

    A super distributed energy system is a future energy system in which the large part of its demand is fed by a huge number of distributed generators. At one time some nodes in the super distributed energy system behave as load, however, at other times they behave as generator - the characteristic of each node depends on the customers' decision. In such situation, it is very difficult to regulate voltage profile over the system due to the complexity of power flows. This paper proposes a novel control method of distributed generators that can achieve the autonomous decentralized voltage profile regulation by using multi-agent technology. The proposed multi-agent system employs two types of agent; a control agent and a mobile agent. Control agents generate or consume reactive power to regulate the voltage profile of neighboring nodes and mobile agents transmit the information necessary for VQ-control among the control agents. The proposed control method is tested through numerical simulations.

  3. Autonomous Decentralized Loop network - ADL aiming at fault-tolerance

    NASA Astrophysics Data System (ADS)

    Kanbe, Seiichiro; Ashida, Akira; Tanaka, Toshiyuki; Mori, Kinji; Ihara, Hirokazu

    An Autonomous Decentralized System (ADS) network is proposed which provides fault detection, fault recovery, transmission, and maintenance for a space system in a distributed manner. An Autonomous Decentralized Loop (ADL) network system is presented as an application of ADS. The ADL system construction, communication protocol, transmission control, and fault detection and recovery are examined. The ADS features autonomous nodes which allow no subsystem to be down without advance notice. The functional availability of ADL is compared with that of a two-redundant loop.

  4. Stochastic decentralized systems

    NASA Astrophysics Data System (ADS)

    Barfoot, Timothy David

    Fundamental aspects of decentralized systems are considered from a control perspective. The stochastic framework afforded by Markov systems is presented as a formal setting in which to study decentralized systems. A stochastic algebra is introduced which allows Markov systems to be considered in matrix format but also strikes an important connection to the classic linear system originally studied by Kalman [1960]. The process of decentralization is shown to impose constraints on observability and controllability of a system. However, it is argued that communicating decentralized controllers can implement any control law possible with a centralized controller. Communication is shown to serve a dual role, both enabling sensor data to be shared and actions to be coordinated. The viabilities of these two types of communication are tested on a real network of mobile robots where they are found to be successful at a variety of tasks. Action coordination is reframed as a decentralized decision making process whereupon stochastic cellular automata (SCA) are introduced as a model. Through studies of SCA it is found that coordination in a group of arbitrarily and sparsely connected agents is possible using simple rules. The resulting stochastic mechanism may be immediately used as a practical decentralized decision making tool (it is tested on a group of mobile robots) but, it furthermore provides insight into the general features of self-organizing systems.

  5. Decentralized System Control.

    DTIC Science & Technology

    1986-04-01

    structures which reduce or eliminate this effect. Until research is directly aimed at this problem, a greater -* understanding of the scientific truths and...ABSTRACT (Continue on reverse if necessay and idantify by block number) /- This report suinmarizes progress on research in decentralized control...Physically Decentralized Resource Management 12 2.2.3 Other Objectives 17 % 2.2.3.1 Research Per Sc Versus Facility Development 17 k.:- 2.2.3.2 Large Scale

  6. Decentralized autonomous planning of cluster reconfiguration for fractionated spacecraft

    NASA Astrophysics Data System (ADS)

    Chu, Jing; Guo, Jian; Gill, Eberhard

    2016-06-01

    Autonomous cluster operation such as cluster reconfiguration is one of the enabling technologies for fractionated spacecraft. By virtue of the multi-agent system theory, this paper presents an organizational architecture for fractionated spacecraft, which not only enables autonomous cluster operations but also facilitates its non-traditional attributes. Within this organizational architecture, a decentralized framework is proposed to solve cluster reconfiguration problems based on primal and dual decomposition, where subgradient methods are adopted to include reconfiguration cases with non-differentiable objectives. Two typical constraints are considered: final configuration constraints representing coupling variables and collision avoidance constraints representing coupling constraints, both of which are non-convex. General schemes are proposed to convexify those constraints via the linearization and convex restriction technology. Then final configuration constraints are tackled by primal decomposition, while collision avoidance constraints by dual decomposition. To the end, multi-level primal and dual decompositions are employed to solve reconfiguration problems with both coupling variables and coupling constraints. For illustration an example of in-plane cluster reconfiguration is solved and compared with the centralized approach the solution is optimal.

  7. Autonomous, Decentralized Grid Architecture: Prosumer-Based Distributed Autonomous Cyber-Physical Architecture for Ultra-Reliable Green Electricity Networks

    SciTech Connect

    2012-01-11

    GENI Project: Georgia Tech is developing a decentralized, autonomous, internet-like control architecture and control software system for the electric power grid. Georgia Tech’s new architecture is based on the emerging concept of electricity prosumers—economically motivated actors that can produce, consume, or store electricity. Under Georgia Tech’s architecture, all of the actors in an energy system are empowered to offer associated energy services based on their capabilities. The actors achieve their sustainability, efficiency, reliability, and economic objectives, while contributing to system-wide reliability and efficiency goals. This is in marked contrast to the current one-way, centralized control paradigm.

  8. Decentralized energy systems for clean electricity access

    NASA Astrophysics Data System (ADS)

    Alstone, Peter; Gershenson, Dimitry; Kammen, Daniel M.

    2015-04-01

    Innovative approaches are needed to address the needs of the 1.3 billion people lacking electricity, while simultaneously transitioning to a decarbonized energy system. With particular focus on the energy needs of the underserved, we present an analytic and conceptual framework that clarifies the heterogeneous continuum of centralized on-grid electricity, autonomous mini- or community grids, and distributed, individual energy services. A historical analysis shows that the present day is a unique moment in the history of electrification where decentralized energy networks are rapidly spreading, based on super-efficient end-use appliances and low-cost photovoltaics. We document how this evolution is supported by critical and widely available information technologies, particularly mobile phones and virtual financial services. These disruptive technology systems can rapidly increase access to basic electricity services and directly inform the emerging Sustainable Development Goals for quality of life, while simultaneously driving action towards low-carbon, Earth-sustaining, inclusive energy systems.

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

    NASA Technical Reports Server (NTRS)

    Kimura, Shinichi; Miyazaki, Ken; Suzuki, Yoshiaki

    1994-01-01

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

  10. Power Source Status Estimation and Drive Control Method for Autonomous Decentralized Hybrid Train

    NASA Astrophysics Data System (ADS)

    Furuya, Takemasa; Ogawa, Kenichi; Yamamoto, Takamitsu; Hasegawa, Hitoshi

    A hybrid control system has two main functions: power sharing and equipment protection. In this paper, we discuss the design, construction and testing of a drive control method for an autonomous decentralized hybrid train with 100-kW-class fuel cells (FC) and 36-kWh lithium-ion batteries (Li-Batt). The main objectives of this study are to identify the operation status of the power sources on the basis of the input voltage of the traction inverter and to estimate the maximum traction power control basis of the power-source status. The proposed control method is useful in preventing overload operation of the onboard power sources in an autonomous decentralized hybrid system that has a flexible main circuit configuration and a few control signal lines. Further, with this method, the initial cost of a hybrid system can be reduced and the retrofit design of the hybrid system can be simplified. The effectiveness of the proposed method is experimentally confirmed by using a real-scale hybrid train system.

  11. Redundant manipulator techniques for partially decentralized path planning and control of a platoon of autonomous vehicles.

    PubMed

    Stilwell, Daniel J; Bishop, Bradley E; Sylvester, Caleb A

    2005-08-01

    An approach to real-time trajectory generation for platoons of autonomous vehicles is developed from well-known control techniques for redundant robotic manipulators. The partially decentralized structure of this approach permits each vehicle to independently compute its trajectory in real-time using only locally generated information and low-bandwidth feedback generated by a system exogenous to the platoon. Our work is motivated by applications for which communications bandwidth is severely limited, such for platoons of autonomous underwater vehicles. The communication requirements for our trajectory generation approach are independent of the number of vehicles in the platoon, enabling platoons composed of a large number of vehicles to be coordinated despite limited communication bandwidth.

  12. Autonomous Decentralized Control of Supply and Demand by Inverter Based Distributed Generations in Isolated Microgrid

    NASA Astrophysics Data System (ADS)

    Shiki, Akira; Yokoyama, Akihiko; Baba, Jyunpei; Takano, Tomihiro; Gouda, Takahiro; Izui, Yoshio

    Recently, because of the environmental burden mitigation, energy conservations, energy security, and cost reductions, distributed generations are attracting our strong attention. These distributed generations (DGs) have been already installed to the distribution system, and much more DGs will be expected to be connected in the future. On the other hand, a new concept called “Microgrid” which is a small power supply network consisting of only DGs was proposed and some prototype projects are ongoing in Japan. The purpose of this paper is to develop the three-phase instantaneous valued digital simulator of microgrid consisting of a lot of inverter based DGs and to develop a supply and demand control method in isolated microgrid. First, microgrid is modeled using MATLAB/SIMULINK. We develop models of three-phase instantaneous valued inverter type CVCF generator, PQ specified generator, PV specified generator, PQ specified load as storage battery, photovoltaic generation, fuel cell and inverter load respectively. Then we propose an autonomous decentralized control method of supply and demand in isolated microgrid where storage batteries, fuel cells, photovoltaic generations and loads are connected. It is proposed here that the system frequency is used as a means to control DG output. By changing the frequency of the storage battery due to unbalance of supply and demand, all inverter based DGs detect the frequency fluctuation and change their own outputs. Finally, a new frequency control method in autonomous decentralized control of supply and demand is proposed. Though the frequency is used to transmit the information on the supply and demand unbalance to DGs, after the frequency plays the role, the frequency finally has to return to a standard value. To return the frequency to the standard value, the characteristic curve of the fuel cell is shifted in parallel. This control is carried out corresponding to the fluctuation of the load. The simulation shows that the

  13. INL Autonomous Navigation System

    SciTech Connect

    2005-03-30

    The INL Autonomous Navigation System provides instructions for autonomously navigating a robot. The system permits high-speed autonomous navigation including obstacle avoidance, waypoing navigation and path planning in both indoor and outdoor environments.

  14. Decentralized Multisensory Information Integration in Neural Systems

    PubMed Central

    Zhang, Wen-hao; Chen, Aihua

    2016-01-01

    How multiple sensory cues are integrated in neural circuitry remains a challenge. The common hypothesis is that information integration might be accomplished in a dedicated multisensory integration area receiving feedforward inputs from the modalities. However, recent experimental evidence suggests that it is not a single multisensory brain area, but rather many multisensory brain areas that are simultaneously involved in the integration of information. Why many mutually connected areas should be needed for information integration is puzzling. Here, we investigated theoretically how information integration could be achieved in a distributed fashion within a network of interconnected multisensory areas. Using biologically realistic neural network models, we developed a decentralized information integration system that comprises multiple interconnected integration areas. Studying an example of combining visual and vestibular cues to infer heading direction, we show that such a decentralized system is in good agreement with anatomical evidence and experimental observations. In particular, we show that this decentralized system can integrate information optimally. The decentralized system predicts that optimally integrated information should emerge locally from the dynamics of the communication between brain areas and sheds new light on the interpretation of the connectivity between multisensory brain areas. SIGNIFICANCE STATEMENT To extract information reliably from ambiguous environments, the brain integrates multiple sensory cues, which provide different aspects of information about the same entity of interest. Here, we propose a decentralized architecture for multisensory integration. In such a system, no processor is in the center of the network topology and information integration is achieved in a distributed manner through reciprocally connected local processors. Through studying the inference of heading direction with visual and vestibular cues, we show that

  15. Towards a Decentralized Magnetic Indoor Positioning System

    PubMed Central

    Kasmi, Zakaria; Norrdine, Abdelmoumen; Blankenbach, Jörg

    2015-01-01

    Decentralized magnetic indoor localization is a sophisticated method for processing sampled magnetic data directly on a mobile station (MS), thereby decreasing or even avoiding the need for communication with the base station. In contrast to central-oriented positioning systems, which transmit raw data to a base station, decentralized indoor localization pushes application-level knowledge into the MS. A decentralized position solution has thus a strong feasibility to increase energy efficiency and to prolong the lifetime of the MS. In this article, we present a complete architecture and an implementation for a decentralized positioning system. Furthermore, we introduce a technique for the synchronization of the observed magnetic field on the MS with the artificially-generated magnetic field from the coils. Based on real-time clocks (RTCs) and a preemptive operating system, this method allows a stand-alone control of the coils and a proper assignment of the measured magnetic fields on the MS. A stand-alone control and synchronization of the coils and the MS have an exceptional potential to implement a positioning system without the need for wired or wireless communication and enable a deployment of applications for rescue scenarios, like localization of miners or firefighters. PMID:26690145

  16. Towards a Decentralized Magnetic Indoor Positioning System.

    PubMed

    Kasmi, Zakaria; Norrdine, Abdelmoumen; Blankenbach, Jörg

    2015-12-04

    Decentralized magnetic indoor localization is a sophisticated method for processing sampled magnetic data directly on a mobile station (MS), thereby decreasing or even avoiding the need for communication with the base station. In contrast to central-oriented positioning systems, which transmit raw data to a base station, decentralized indoor localization pushes application-level knowledge into the MS. A decentralized position solution has thus a strong feasibility to increase energy efficiency and to prolong the lifetime of the MS. In this article, we present a complete architecture and an implementation for a decentralized positioning system. Furthermore, we introduce a technique for the synchronization of the observed magnetic field on the MS with the artificially-generated magnetic field from the coils. Based on real-time clocks (RTCs) and a preemptive operating system, this method allows a stand-alone control of the coils and a proper assignment of the measured magnetic fields on the MS. A stand-alone control and synchronization of the coils and the MS have an exceptional potential to implement a positioning system without the need for wired or wireless communication and enable a deployment of applications for rescue scenarios, like localization of miners or firefighters.

  17. Autonomic Nervous System Disorders

    MedlinePlus

    Your autonomic nervous system is the part of your nervous system that controls involuntary actions, such as the beating of your heart ... breathing and swallowing Erectile dysfunction in men Autonomic nervous system disorders can occur alone or as the result ...

  18. Decentralized control of flexible, multibody systems

    NASA Astrophysics Data System (ADS)

    Reisenauer, Brian Thomas

    1992-11-01

    The appearance of multibody flexible systems in robotics, telerobotics, and space application invites our study of a new method for closed-loop controller design. These systems differ substantially from standard rigid multibody structures. Active control in the presence of flexibility may induce system instability. Furthermore, multibody systems differ from flexible structures in that mode shapes and mode frequencies continually change as the orientation of one body about another varies. Our work brings together ideas from decentralized control and multibody dynamics to address this unique challenge. The composite system method applies decentralized control to interconnected systems and suggests analytic tools for assessing system stability. Multibody dynamics introduces the application of a moving reference frame to minimize the interconnection between gross body motion and elastic deformation. Together, the combination yields a decentralized design methodology. System modeling as well as control architecture benefit from substructure division and the application of a pseudo-rigid reference frame. Lyapunov based analysis presents proximate design goals, provides a template for redesign, and develops a sufficient condition for composite stability. Several examples help us further understand the control method. We concentrate on articulated structures as a primary type of multibody system and examine different models. A simplified rotational spring model enables a comprehensive study of the design method with analysis, as well as control performance. We see how analysis offers insight into the decentralized design and engenders a rather robust controller. A more complicated assumed mode model provides a further test-bed for design, while a finite element model outlines the application of the approach to much more complicated systems.

  19. Ecology Based Decentralized Agent Management System

    NASA Technical Reports Server (NTRS)

    Peysakhov, Maxim D.; Cicirello, Vincent A.; Regli, William C.

    2004-01-01

    The problem of maintaining a desired number of mobile agents on a network is not trivial, especially if we want a completely decentralized solution. Decentralized control makes a system more r e bust and less susceptible to partial failures. The problem is exacerbated on wireless ad hoc networks where host mobility can result in significant changes in the network size and topology. In this paper we propose an ecology-inspired approach to the management of the number of agents. The approach associates agents with living organisms and tasks with food. Agents procreate or die based on the abundance of uncompleted tasks (food). We performed a series of experiments investigating properties of such systems and analyzed their stability under various conditions. We concluded that the ecology based metaphor can be successfully applied to the management of agent populations on wireless ad hoc networks.

  20. Integration of a Decentralized Linear-Quadratic-Gaussian Control into GSFC's Universal 3-D Autonomous Formation Flying Algorithm

    NASA Technical Reports Server (NTRS)

    Folta, David C.; Carpenter, J. Russell

    1999-01-01

    A decentralized control is investigated for applicability to the autonomous formation flying control algorithm developed by GSFC for the New Millenium Program Earth Observer-1 (EO-1) mission. This decentralized framework has the following characteristics: The approach is non-hierarchical, and coordination by a central supervisor is not required; Detected failures degrade the system performance gracefully; Each node in the decentralized network processes only its own measurement data, in parallel with the other nodes; Although the total computational burden over the entire network is greater than it would be for a single, centralized controller, fewer computations are required locally at each node; Requirements for data transmission between nodes are limited to only the dimension of the control vector, at the cost of maintaining a local additional data vector. The data vector compresses all past measurement history from all the nodes into a single vector of the dimension of the state; and The approach is optimal with respect to standard cost functions. The current approach is valid for linear time-invariant systems only. Similar to the GSFC formation flying algorithm, the extension to linear LQG time-varying systems requires that each node propagate its filter covariance forward (navigation) and controller Riccati matrix backward (guidance) at each time step. Extension of the GSFC algorithm to non-linear systems can also be accomplished via linearization about a reference trajectory in the standard fashion, or linearization about the current state estimate as with the extended Kalman filter. To investigate the feasibility of the decentralized integration with the GSFC algorithm, an existing centralized LQG design for a single spacecraft orbit control problem is adapted to the decentralized framework while using the GSFC algorithm's state transition matrices and framework. The existing GSFC design uses both reference trajectories of each spacecraft in formation and

  1. [Decentralization: part of the health system problem or the solution?].

    PubMed

    López-Casasnovas, G; Rico, A

    2003-01-01

    The greatest change experienced by the Spanish health system in the last two decades has probably been the devolution of power to the autonomous communities composing the Spanish state. This may generate tensions in the status quo and poses questions of whether decentralization of the health system is compatible with a cohesive national health system and whether this devolution of power is part of the problem of the health system or part of its solution. Generalized devolution occurring as rapidly as that produced in Spain (negotiated in slightly less than 6 months, with minimal financial agreements, without explicit legal frameworks in the areas of coordination and development of basic norms, and with a new agreement of general financing of the autonomous communities which possibly contains lacunae, etc.) presents an uncertain panorama. The possible misuse of the wide powers recently transferred to the autonomous communities could easily be used by those who would like to see a restoration of pre-democratic centralism to sow fear of the collapse of the health service as the cornerstone of the welfare state among the general public. The present article briefly addresses these questions.

  2. Development of a decentralized telehomecare monitoring system.

    PubMed

    Hsu, Yeh-Liang; Yang, Che-Chang; Tsai, Tzung-Cheng; Cheng, Chih-Ming; Wu, Chang-Huei

    2007-02-01

    Although the usefulness of telehomecare has been recognized, and all technologies required are readily available, expectations for its widespread adoption have not been realized. This paper presents the development of a portable telehomecare monitoring system (PTMS). What sets this work apart from most other systems is the focus on a highly decentralized monitoring model and the portable nature of the system. We believe that this is the approach that is needed to make such systems economically viable and acceptable to the end-users. The PTMS is a decentralized system, in which a single household is the fundamental unit for sensing, data transmission, data storage and analysis. It is not necessary to subscribe service from a health welfare center, and the infrastructure required is minimal, too. Equipped with different sensors, the PTMS can be used for long-term personal health data management in a home environment, and it can be easily implemented in a home environment at very low cost. Similar to the largescale telehomecare systems, the PTMS also provides caregivers with convenient access to the health data and real-time event-driven messages in urgent situations. Several PTMS applications are described in this paper, including environmental monitoring, monitoring of activities of daily living, a radiofrequency identification (RFID)-based entrance guard system, sleep quality monitoring, vital sign parameter monitoring, and a tele-presence robot.

  3. The snow system: A decentralized medical data processing system.

    PubMed

    Bellika, Johan Gustav; Henriksen, Torje Starbo; Yigzaw, Kassaye Yitbarek

    2015-01-01

    Systems for large-scale reuse of electronic health record data is claimed to have the potential to transform the current health care delivery system. In principle three alternative solutions for reuse exist: centralized, data warehouse, and decentralized solutions. This chapter focuses on the decentralized system alternative. Decentralized systems may be categorized into approaches that move data to enable computations or move computations to the where data is located to enable computations. We describe a system that moves computations to where the data is located. Only this kind of decentralized solution has the capabilities to become ideal systems for reuse as the decentralized alternative enables computation and reuse of electronic health record data without moving or exposing the information to outsiders. This chapter describes the Snow system, which is a decentralized medical data processing system, its components and how it has been used. It also describes the requirements this kind of systems need to support to become sustainable and successful in recruiting voluntary participation from health institutions.

  4. Microflora of drinking water distributed through decentralized supply systems (Tomsk)

    NASA Astrophysics Data System (ADS)

    Khvaschevskaya, A. A.; Nalivaiko, N. G.; Shestakova, A. V.

    2016-03-01

    The paper considers microbiological quality of waters from decentralized water supply systems in Tomsk. It has been proved that there are numerous microbial contaminants of different types. The authors claim that the water distributed through decentralized supply systems is not safe to drink without preliminary treatment.

  5. Purchasing a decentralized medication management system.

    PubMed

    2006-03-01

    Decentralized medication management systems (DMMSs) are used in hospitals, long-term care facilities, prisons, outpatient clinics, surgery centers, and other places to manage the distribution of drugs. DMMSs consist of storage compartments for medications, with an internal computer that controls and records the administration of drugs. Some DMMSs are stationary cabinets and others are mobile carts. There have been important advances in DMMS technology since we evaluated these products in 1996, including enhanced computer memory and processing power, wider adoption of wireless networking, better user interfaces, and greater integration with other hospital information systems. To get the most out of a DMMS purchase or upgrade, facilities will need careful planning that involves assessing their own needs, selecting hardware and software configurations that meet those needs, and then choosing the right vendor and model. A properly selected DMMS can help to enforce medication distribution policies, prevent errors, and streamline processes.

  6. Energy and air emission implications of a decentralized wastewater system

    NASA Astrophysics Data System (ADS)

    Shehabi, Arman; Stokes, Jennifer R.; Horvath, Arpad

    2012-06-01

    Both centralized and decentralized wastewater systems have distinct engineering, financial and societal benefits. This paper presents a framework for analyzing the environmental effects of decentralized wastewater systems and an evaluation of the environmental impacts associated with two currently operating systems in California, one centralized and one decentralized. A comparison of energy use, greenhouse gas emissions and criteria air pollutants from the systems shows that the scale economies of the centralized plant help lower the environmental burden to less than a fifth of that of the decentralized utility for the same volume treated. The energy and emission burdens of the decentralized plant are reduced when accounting for high-yield wastewater reuse if it supplants an energy-intensive water supply like a desalination one. The centralized facility also reduces greenhouse gases by flaring methane generated during the treatment process, while methane is directly emitted from the decentralized system. The results are compelling enough to indicate that the life-cycle environmental impacts of decentralized designs should be carefully evaluated as part of the design process.

  7. Analysis and design of robust decentralized controllers for nonlinear systems

    SciTech Connect

    Schoenwald, D.A.

    1993-07-01

    Decentralized control strategies for nonlinear systems are achieved via feedback linearization techniques. New results on optimization and parameter robustness of non-linear systems are also developed. In addition, parametric uncertainty in large-scale systems is handled by sensitivity analysis and optimal control methods in a completely decentralized framework. This idea is applied to alleviate uncertainty in friction parameters for the gimbal joints on Space Station Freedom. As an example of decentralized nonlinear control, singular perturbation methods and distributed vibration damping are merged into a control strategy for a two-link flexible manipulator.

  8. Feasibility of Decentralized Linear-Quadratic-Gaussian Control of Autonomous Distributed Spacecraft

    NASA Technical Reports Server (NTRS)

    Carpenter, J. Russell

    1999-01-01

    A distributed satellite formation, modeled as an arbitrary number of fully connected nodes in a network, could be controlled using a decentralized controller framework that distributes operations in parallel over the network. For such problems, a solution that minimizes data transmission requirements, in the context of linear-quadratic-Gaussian (LQG) control theory, was given by Speyer. This approach is advantageous because it is non-hierarchical, detected failures gracefully degrade system performance, fewer local computations are required than for a centralized controller, and it is optimal with respect to the standard LQG cost function. Disadvantages of the approach are the need for a fully connected communications network, the total operations performed over all the nodes are greater than for a centralized controller, and the approach is formulated for linear time-invariant systems. To investigate the feasibility of the decentralized approach to satellite formation flying, a simple centralized LQG design for a spacecraft orbit control problem is adapted to the decentralized framework. The simple design uses a fixed reference trajectory (an equatorial, Keplerian, circular orbit), and by appropriate choice of coordinates and measurements is formulated as a linear time-invariant system.

  9. Autonomous Flight Safety System

    NASA Technical Reports Server (NTRS)

    Simpson, James

    2010-01-01

    The Autonomous Flight Safety System (AFSS) is an independent self-contained subsystem mounted onboard a launch vehicle. AFSS has been developed by and is owned by the US Government. Autonomously makes flight termination/destruct decisions using configurable software-based rules implemented on redundant flight processors using data from redundant GPS/IMU navigation sensors. AFSS implements rules determined by the appropriate Range Safety officials.

  10. Architecture of autonomous systems

    NASA Technical Reports Server (NTRS)

    Dikshit, Piyush; Guimaraes, Katia; Ramamurthy, Maya; Agrawala, Ashok; Larsen, Ronald L.

    1986-01-01

    Automation of Space Station functions and activities, particularly those involving robotic capabilities with interactive or supervisory human control, is a complex, multi-disciplinary systems design problem. A wide variety of applications using autonomous control can be found in the literature, but none of them seem to address the problem in general. All of them are designed with a specific application in mind. In this report, an abstract model is described which unifies the key concepts underlying the design of automated systems such as those studied by the aerospace contractors. The model has been kept as general as possible. The attempt is to capture all the key components of autonomous systems. With a little effort, it should be possible to map the functions of any specific autonomous system application to the model presented here.

  11. Architecture of autonomous systems

    NASA Technical Reports Server (NTRS)

    Dikshit, Piyush; Guimaraes, Katia; Ramamurthy, Maya; Agrawala, Ashok; Larsen, Ronald L.

    1989-01-01

    Automation of Space Station functions and activities, particularly those involving robotic capabilities with interactive or supervisory human control, is a complex, multi-disciplinary systems design problem. A wide variety of applications using autonomous control can be found in the literature, but none of them seem to address the problem in general. All of them are designed with a specific application in mind. In this report, an abstract model is described which unifies the key concepts underlying the design of automated systems such as those studied by the aerospace contractors. The model has been kept as general as possible. The attempt is to capture all the key components of autonomous systems. With a little effort, it should be possible to map the functions of any specific autonomous system application to the model presented here.

  12. Micro autonomous robotic system

    NASA Astrophysics Data System (ADS)

    Ishihara, Hidenori; Fukuda, Toshio

    1995-12-01

    This paper deals with the structural proposal of the micro autonomous robotic system, and shows the design of the prototype. We aim at developing the micro robot, which autonomously acts based on its detection, in order to propose a solution to constitute the micro autonomous robotic system. However, as miniaturizing the size, the number of the sensors gets restricted and the information from them becomes lack. Lack of the information makes it difficult to realize an intelligence of quality. Because of that, the micro robotic system needs to develop the simple algorithm. In this paper, we propose the simply logical algorithms to control the actuator, and show the performance of the micro robot controlled by them, and design the Micro Line Trace Robot, which dimension is about 1 cm cube and which moves along the black line on the white-colored ground, and the programmable micro autonomous robot, which dimension is about 2 cm cube and which performs according to the program optionally.

  13. Decentralized diagnosis in a spacecraft attitude determination and control system

    NASA Astrophysics Data System (ADS)

    Pérez, C. G.; Travé-Massuyès, L.; Chanthery, E.; Sotomayor, J.

    2015-11-01

    In model-based diagnosis (MBD), structural models can provide useful information for fault diagnosis and fault-tolerant control design. In particular, they are known for supporting the design of analytical redundancy relations (ARRs) which are widely used to generate residuals for diagnosis. On the other hand, systems are increasingly complex whereby it is necessary to develop decentralized architectures to perform the diagnosis task. Decentralized diagnosis is of interest for on-board systems as a way to reduce computational costs or for large geographically distributed systems that require to minimizing data transfer. Decentralized solutions allow proper separation of industrial knowledge, provided that inputs and outputs are clearly defined. This paper builds on the results of [1] and proposes an optimized approach for decentralized fault-focused residual generation. It also introduce the concept of Fault-Driven Minimal Structurally-Overdetermined set (FMSO) ensuring minimal redundancy. The method decreases communication cost involved in decentralization with respect to the algorithm proposed in [1] while still maintaining the same isolation properties as the centralized approach as well as the isolation on request capability.

  14. The Design of a Decentralized Electronic Triage System

    PubMed Central

    Massey, Tammara; Gao, Tia; Welsh, Matt; Sharp, Jonathan H.; Sarrafzadeh, Majid

    2006-01-01

    The Advanced Health and Disaster Aid Network (AID-N) project seeks to identify unmet needs of emergency response teams in the Washington, DC area during mass casualty incidents and conduct feasibility tests of technology-based solutions. The decentralized electronic triage and sensing system uses low power, electronic triage sensors to monitor the vital signs of patients and provide location tracking capabilities. The robust, decentralized location tracking software runs on a small, embedded system with limited memory and computational power that efficiently locates patients. A field study demonstrates the process of current emergency procedures and the design implications of the prototype. This field study, along with the hardware and software architecture of the electronic triage system, lay the foundation for a reliable, decentralized sensor deployment that will continuously extend network coverage during a mass casualty incident. PMID:17238400

  15. Designing a Decentralized Traffic Information System — AutoNomos

    NASA Astrophysics Data System (ADS)

    Wegener, Axel; Hellbrück, Horst; Fischer, Stefan; Hendriks, Björn; Schmidt, Christiane; Fekete, Sándor P.

    We propose a decentralized traffic information system—Auto-Nomos—that is based on a thorough investigation of the properties of traffic and recommends a hierarchical data aggregation and forwarding for providing individualized information and support to road users. Our approach differs from work in the field by consequently applying local rules and local decentralized data processing, which turns out to be a key property of robust and scalable computing systems. We present a flexible VANET middleware that assists the application development by providing generic functionality for traffic applications. We discuss the architectural design of the overall system and provide solutions of important design concepts demonstrating the innovation of the approach.

  16. Decentralization, stabilization, and estimation of large-scale linear systems

    NASA Technical Reports Server (NTRS)

    Siljak, D. D.; Vukcevic, M. B.

    1976-01-01

    In this short paper we consider three closely related aspects of large-scale systems: decentralization, stabilization, and estimation. A method is proposed to decompose a large linear system into a number of interconnected subsystems with decentralized (scalar) inputs or outputs. The procedure is preliminary to the hierarchic stabilization and estimation of linear systems and is performed on the subsystem level. A multilevel control scheme based upon the decomposition-aggregation method is developed for stabilization of input-decentralized linear systems Local linear feedback controllers are used to stabilize each decoupled subsystem, while global linear feedback controllers are utilized to minimize the coupling effect among the subsystems. Systems stabilized by the method have a tolerance to a wide class of nonlinearities in subsystem coupling and high reliability with respect to structural perturbations. The proposed output-decentralization and stabilization schemes can be used directly to construct asymptotic state estimators for large linear systems on the subsystem level. The problem of dimensionality is resolved by constructing a number of low-order estimators, thus avoiding a design of a single estimator for the overall system.

  17. Nemesis Autonomous Test System

    NASA Technical Reports Server (NTRS)

    Barltrop, Kevin J.; Lee, Cin-Young; Horvath, Gregory A,; Clement, Bradley J.

    2012-01-01

    A generalized framework has been developed for systems validation that can be applied to both traditional and autonomous systems. The framework consists of an automated test case generation and execution system called Nemesis that rapidly and thoroughly identifies flaws or vulnerabilities within a system. By applying genetic optimization and goal-seeking algorithms on the test equipment side, a "war game" is conducted between a system and its complementary nemesis. The end result of the war games is a collection of scenarios that reveals any undesirable behaviors of the system under test. The software provides a reusable framework to evolve test scenarios using genetic algorithms using an operation model of the system under test. It can automatically generate and execute test cases that reveal flaws in behaviorally complex systems. Genetic algorithms focus the exploration of tests on the set of test cases that most effectively reveals the flaws and vulnerabilities of the system under test. It leverages advances in state- and model-based engineering, which are essential in defining the behavior of autonomous systems. It also uses goal networks to describe test scenarios.

  18. Autonomous Flight Safety System

    NASA Technical Reports Server (NTRS)

    Ferrell, Bob; Santuro, Steve; Simpson, James; Zoerner, Roger; Bull, Barton; Lanzi, Jim

    2004-01-01

    Autonomous Flight Safety System (AFSS) is an independent flight safety system designed for small to medium sized expendable launch vehicles launching from or needing range safety protection while overlying relatively remote locations. AFSS replaces the need for a man-in-the-loop to make decisions for flight termination. AFSS could also serve as the prototype for an autonomous manned flight crew escape advisory system. AFSS utilizes onboard sensors and processors to emulate the human decision-making process using rule-based software logic and can dramatically reduce safety response time during critical launch phases. The Range Safety flight path nominal trajectory, its deviation allowances, limit zones and other flight safety rules are stored in the onboard computers. Position, velocity and attitude data obtained from onboard global positioning system (GPS) and inertial navigation system (INS) sensors are compared with these rules to determine the appropriate action to ensure that people and property are not jeopardized. The final system will be fully redundant and independent with multiple processors, sensors, and dead man switches to prevent inadvertent flight termination. AFSS is currently in Phase III which includes updated algorithms, integrated GPS/INS sensors, large scale simulation testing and initial aircraft flight testing.

  19. Decentralized H ∞ control for damping power system oscillations

    NASA Astrophysics Data System (ADS)

    Li, Guo-Jie; Lie, Tek Tjing

    2012-03-01

    Inter-area oscillations are serious problems to large-scale power systems. A decentralized H ∞ generator excitation controller of a power system is proposed to damp the inter-area oscillations and to enhance power system stability. The design procedure for a linear composite system is presented in terms of positive semi-definite solutions to modified algebraic inequalities. The resulting controller guarantees closed-loop stability, robustness and an H ∞-norm bound on disturbance attenuation even under uncertainties such as high frequency noise. The control is decentralized in the sense that the control of each generator depends on local information only. The effectiveness of the H ∞ controller is demonstrated through digital simulation studies on a two-machine power system.

  20. Intelligent Mobile Autonomous System

    DTIC Science & Technology

    1987-01-01

    jerk application. (c) Negative jerk application. Group (a). Application of positve jerk. Force is increased from initial value to force of resistance...fundamentals of the new emerging area of autonomous robotics . The goal of this research is to develop a theory of design and functioning of Intelligent...scientific research. This report contributes to a new rapidly developing area of autonomous robotics . Actual experience of dealing with autonomous robots (or

  1. Planning In A Hierarchical Nested Autonomous Control System

    NASA Astrophysics Data System (ADS)

    Meystel, A.

    1987-02-01

    In this paper, theoretical foundations of planning processes are outlined in a form applicable for design and control of autonomous mobile robots. Planning/control is shown to be a unified recursive operation of decision making applied to a nested hierarchy of knowledge representation. The core of the theory is based upon methods developed in the areas of Post-production systems, theory of coding, and the team theory of decentralized stochastic control. A class of autonomous control systems for robots is defined, and a problem of information representation is addressed for this class. A phenomenon of nesting is analyzed and the minimum c-entropy rule is determined for arranging efficient design and control procedures for systems of intelligent control. A concept of nested hierarchical knowledge-based controller is employed in this paper which enables minimum-time control using nested dynamic programming. An application of this concept is unfolded for a system of knowledge-based control of an autonomous mobile robot. Key words: Autonomous Control Systems, Decision Making, Production Systems, Decentralized Stochastic Control, Dynamic Programming, Hierarchical Control, Knowledge Based Controllers, E-entropy, Planning, Navigation, Guidance, Prediction, Contingencies, Mobile Robots.

  2. Autonomous and Decentralized Optimization of Large-Scale Heterogeneous Wireless Networks by Neural Network Dynamics

    NASA Astrophysics Data System (ADS)

    Hasegawa, Mikio; Tran, Ha Nguyen; Miyamoto, Goh; Murata, Yoshitoshi; Harada, Hiroshi; Kato, Shuzo

    We propose a neurodynamical approach to a large-scale optimization problem in Cognitive Wireless Clouds, in which a huge number of mobile terminals with multiple different air interfaces autonomously utilize the most appropriate infrastructure wireless networks, by sensing available wireless networks, selecting the most appropriate one, and reconfiguring themselves with seamless handover to the target networks. To deal with such a cognitive radio network, game theory has been applied in order to analyze the stability of the dynamical systems consisting of the mobile terminals' distributed behaviors, but it is not a tool for globally optimizing the state of the network. As a natural optimization dynamical system model suitable for large-scale complex systems, we introduce the neural network dynamics which converges to an optimal state since its property is to continually decrease its energy function. In this paper, we apply such neurodynamics to the optimization problem of radio access technology selection. We compose a neural network that solves the problem, and we show that it is possible to improve total average throughput simply by using distributed and autonomous neuron updates on the terminal side.

  3. Cybersecurity for aerospace autonomous systems

    NASA Astrophysics Data System (ADS)

    Straub, Jeremy

    2015-05-01

    High profile breaches have occurred across numerous information systems. One area where attacks are particularly problematic is autonomous control systems. This paper considers the aerospace information system, focusing on elements that interact with autonomous control systems (e.g., onboard UAVs). It discusses the trust placed in the autonomous systems and supporting systems (e.g., navigational aids) and how this trust can be validated. Approaches to remotely detect the UAV compromise, without relying on the onboard software (on a potentially compromised system) as part of the process are discussed. How different levels of autonomy (task-based, goal-based, mission-based) impact this remote characterization is considered.

  4. Decentrally stabilizable linear and bilinear large-scale systems

    NASA Technical Reports Server (NTRS)

    Siljak, D. D.; Vukcevic, M. B.

    1977-01-01

    Two classes of large-scale systems are identified, which can always be stabilized by decentralized feedback control. For the class of systems composed of interconnected linear subsystems, we can choose local controllers for the subsystems to achieve stability of the overall system. The same linear feedback scheme can be used to stabilize a class of linear systems with bilinear interconnections. In this case, however, the scheme is used to establish a finite region of stability for the overall system. The stabilization algorithm is applied to the design of a control system for the Large-Space Telescope.

  5. Autonomous power system brassboard

    NASA Technical Reports Server (NTRS)

    Merolla, Anthony

    1992-01-01

    The Autonomous Power System (APS) brassboard is a 20 kHz power distribution system which has been developed at NASA Lewis Research Center, Cleveland, Ohio. The brassboard exists to provide a realistic hardware platform capable of testing artificially intelligent (AI) software. The brassboard's power circuit topology is based upon a Power Distribution Control Unit (PDCU), which is a subset of an advanced development 20 kHz electrical power system (EPS) testbed, originally designed for Space Station Freedom (SSF). The APS program is designed to demonstrate the application of intelligent software as a fault detection, isolation, and recovery methodology for space power systems. This report discusses both the hardware and software elements used to construct the present configuration of the brassboard. The brassboard power components are described. These include the solid-state switches (herein referred to as switchgear), transformers, sources, and loads. Closely linked to this power portion of the brassboard is the first level of embedded control. Hardware used to implement this control and its associated software is discussed. An Ada software program, developed by Lewis Research Center's Space Station Freedom Directorate for their 20 kHz testbed, is used to control the brassboard's switchgear, as well as monitor key brassboard parameters through sensors located within these switches. The Ada code is downloaded from a PC/AT, and is resident within the 8086 microprocessor-based embedded controllers. The PC/AT is also used for smart terminal emulation, capable of controlling the switchgear as well as displaying data from them. Intelligent control is provided through use of a T1 Explorer and the Autonomous Power Expert (APEX) LISP software. Real-time load scheduling is implemented through use of a 'C' program-based scheduling engine. The methods of communication between these computers and the brassboard are explored. In order to evaluate the features of both the

  6. Asteroid Exploration with Autonomic Systems

    NASA Technical Reports Server (NTRS)

    Truszkowski, Walt; Rash, James; Rouff, Christopher; Hinchey, Mike

    2004-01-01

    NASA is studying advanced technologies for a future robotic exploration mission to the asteroid belt. The prospective ANTS (Autonomous Nano Technology Swarm) mission comprises autonomous agents including worker agents (small spacecra3) designed to cooperate in asteroid exploration under the overall authoriq of at least one ruler agent (a larger spacecraft) whose goal is to cause science data to be returned to Earth. The ANTS team (ruler plus workers and messenger agents), but not necessarily any individual on the team, will exhibit behaviors that qualify it as an autonomic system, where an autonomic system is defined as a system that self-reconfigures, self-optimizes, self-heals, and self-protects. Autonomic system concepts lead naturally to realistic, scalable architectures rich in capabilities and behaviors. In-depth consideration of a major mission like ANTS in terms of autonomic systems brings new insights into alternative definitions of autonomic behavior. This paper gives an overview of the ANTS mission and discusses the autonomic properties of the mission.

  7. Robust Decentralized Nonlinear Control for a Twin Rotor MIMO System.

    PubMed

    Belmonte, Lidia María; Morales, Rafael; Fernández-Caballero, Antonio; Somolinos, José Andrés

    2016-07-27

    This article presents the design of a novel decentralized nonlinear multivariate control scheme for an underactuated, nonlinear and multivariate laboratory helicopter denominated the twin rotor MIMO system (TRMS). The TRMS is characterized by a coupling effect between rotor dynamics and the body of the model, which is due to the action-reaction principle originated in the acceleration and deceleration of the motor-propeller groups. The proposed controller is composed of two nested loops that are utilized to achieve stabilization and precise trajectory tracking tasks for the controlled position of the generalized coordinates of the TRMS. The nonlinear internal loop is used to control the electrical dynamics of the platform, and the nonlinear external loop allows the platform to be perfectly stabilized and positioned in space. Finally, we illustrate the theoretical control developments with a set of experiments in order to verify the effectiveness of the proposed nonlinear decentralized feedback controller, in which a comparative study with other controllers is performed, illustrating the excellent performance of the proposed robust decentralized control scheme in both stabilization and trajectory tracking tasks.

  8. Robust Decentralized Nonlinear Control for a Twin Rotor MIMO System

    PubMed Central

    Belmonte, Lidia María; Morales, Rafael; Fernández-Caballero, Antonio; Somolinos, José Andrés

    2016-01-01

    This article presents the design of a novel decentralized nonlinear multivariate control scheme for an underactuated, nonlinear and multivariate laboratory helicopter denominated the twin rotor MIMO system (TRMS). The TRMS is characterized by a coupling effect between rotor dynamics and the body of the model, which is due to the action-reaction principle originated in the acceleration and deceleration of the motor-propeller groups. The proposed controller is composed of two nested loops that are utilized to achieve stabilization and precise trajectory tracking tasks for the controlled position of the generalized coordinates of the TRMS. The nonlinear internal loop is used to control the electrical dynamics of the platform, and the nonlinear external loop allows the platform to be perfectly stabilized and positioned in space. Finally, we illustrate the theoretical control developments with a set of experiments in order to verify the effectiveness of the proposed nonlinear decentralized feedback controller, in which a comparative study with other controllers is performed, illustrating the excellent performance of the proposed robust decentralized control scheme in both stabilization and trajectory tracking tasks. PMID:27472338

  9. Decentralized Control of Scheduling in Distributed Systems.

    DTIC Science & Technology

    2014-09-26

    particular host. For systems meeting this restrictive definition of distributed processing, it is hypothesized that their reliability, extensibility, and...due to different costs of context switches on different machines and operating systems. Table 2 shows the effect on Algorithms 1 and 3 of in- creased...loads. In our scheme we assume that the clocks on different nodes are synchronized . The only effect of asynchrony in the clocks will be that the

  10. Linear decentralized systems with special structure. [for twin lift helicopters

    NASA Technical Reports Server (NTRS)

    Martin, C. F.

    1982-01-01

    Certain fundamental structures associated with linear systems having internal symmetries are outlined. It is shown that the theory of finite-dimensional algebras and their representations are closely related to such systems. It is also demonstrated that certain problems in the decentralized control of symmetric systems are equivalent to long-standing problems of linear systems theory. Even though the structure imposed arose in considering the problems of twin-lift helicopters, any large system composed of several identical intercoupled control systems can be modeled by a linear system that satisfies the constraints imposed. Internal symmetry can be exploited to yield new system-theoretic invariants and a better understanding of the way in which the underlying structure affects overall system performance.

  11. Awareness and Responsibility in Autonomous Weapons Systems

    NASA Astrophysics Data System (ADS)

    Bhuta, Nehal; Rotolo, Antonino; Sartor, Giovanni

    The following sections are included: * Introduction * Why Computational Awareness is Important in Autonomous Weapons * Flying Drones and Other Autonomous Weapons * The Impact of Autonomous Weapons Systems * From Autonomy to Awareness: A Perspective from Science Fiction * Summary and Conclusions

  12. Decentralized and efficient control of transboundary pollution in federal systems

    SciTech Connect

    Silva, E.C.D.

    1997-01-01

    Decentralized control of transboundary pollution in federal systems can be efficient when population crowding is socially costly. In this paper, an upstream region abates pollution or makes an interregional income transfer to the downstream region with the sole intent of deterring immigration. Because either instrument, abatement expenditure or interregional income transfer, alone implements an efficient population distribution between the regions, interregional income transfers are unnecessary for efficiency. Without explicit income transfers, each region provides the efficient portion of the aggregate level of pollution abatement in the Nash equilibrium. 12 refs.

  13. Gas House Autonomous System Monitoring

    NASA Technical Reports Server (NTRS)

    Miller, Luke; Edsall, Ashley

    2015-01-01

    Gas House Autonomous System Monitoring (GHASM) will employ Integrated System Health Monitoring (ISHM) of cryogenic fluids in the High Pressure Gas Facility at Stennis Space Center. The preliminary focus of development incorporates the passive monitoring and eventual commanding of the Nitrogen System. ISHM offers generic system awareness, adept at using concepts rather than specific error cases. As an enabler for autonomy, ISHM provides capabilities inclusive of anomaly detection, diagnosis, and abnormality prediction. Advancing ISHM and Autonomous Operation functional capabilities enhances quality of data, optimizes safety, improves cost effectiveness, and has direct benefits to a wide spectrum of aerospace applications.

  14. Decentralized Optimal Dispatch of Photovoltaic Inverters in Residential Distribution Systems

    SciTech Connect

    Dall'Anese, Emiliano; Dhople, Sairaj V.; Johnson, Brian B.; Giannakis, Georgios B.

    2015-10-05

    Summary form only given. Decentralized methods for computing optimal real and reactive power setpoints for residential photovoltaic (PV) inverters are developed in this paper. It is known that conventional PV inverter controllers, which are designed to extract maximum power at unity power factor, cannot address secondary performance objectives such as voltage regulation and network loss minimization. Optimal power flow techniques can be utilized to select which inverters will provide ancillary services, and to compute their optimal real and reactive power setpoints according to well-defined performance criteria and economic objectives. Leveraging advances in sparsity-promoting regularization techniques and semidefinite relaxation, this paper shows how such problems can be solved with reduced computational burden and optimality guarantees. To enable large-scale implementation, a novel algorithmic framework is introduced - based on the so-called alternating direction method of multipliers - by which optimal power flow-type problems in this setting can be systematically decomposed into sub-problems that can be solved in a decentralized fashion by the utility and customer-owned PV systems with limited exchanges of information. Since the computational burden is shared among multiple devices and the requirement of all-to-all communication can be circumvented, the proposed optimization approach scales favorably to large distribution networks.

  15. Linear time-invariant controller design for two-channel decentralized control systems

    NASA Technical Reports Server (NTRS)

    Desoer, Charles A.; Gundes, A. Nazli

    1987-01-01

    This paper analyzes a linear time-invariant two-channel decentralized control system with a 2 x 2 strictly proper plant. It presents an algorithm for the algebraic design of a class of decentralized compensators which stabilize the given plant.

  16. Special Education in School System Decentralization. Report of a Conference.

    ERIC Educational Resources Information Center

    Reynolds, Maynard C., Ed.

    Presented are five papers and reactions of panel members from the 1973 conference on special education and decentralization sponsored by the Council of Great City Schools, Committee on the Education of Exceptional Children. R. Nystrand provides an overview of decentralization theory and process and suggests that reasons for the development of…

  17. Environmental systems and local actors: decentralizing environmental policy in Uganda.

    PubMed

    Oosterveer, Peter; Van Vliet, Bas

    2010-02-01

    In Uganda, environmental and natural resource management is decentralized and has been the responsibility of local districts since 1996. This environmental management arrangement was part of a broader decentralization process and was intended to increase local ownership and improve environmental policy; however, its implementation has encountered several major challenges over the last decade. This article reviews some of the key structural problems facing decentralized environmental policy in this central African country and examines these issues within the wider framework of political decentralization. Tensions have arisen between technical staff and politicians, between various levels of governance, and between environmental and other policy domains. This review offers a critical reflection on the perspectives and limitations of decentralized environmental governance in Uganda. Our conclusions focus on the need to balance administrative staff and local politicians, the mainstreaming of local environmental policy, and the role of international donors.

  18. Contingency Software in Autonomous Systems

    NASA Technical Reports Server (NTRS)

    Lutz, Robyn; Patterson-Hine, Ann

    2006-01-01

    This viewgraph presentation reviews the development of contingency software for autonomous systems. Autonomous vehicles currently have a limited capacity to diagnose and mitigate failures. There is a need to be able to handle a broader range of contingencies. The goals of the project are: 1. Speed up diagnosis and mitigation of anomalous situations.2.Automatically handle contingencies, not just failures.3.Enable projects to select a degree of autonomy consistent with their needs and to incrementally introduce more autonomy.4.Augment on-board fault protection with verified contingency scripts

  19. Measures of Autonomic Nervous System

    DTIC Science & Technology

    2011-04-01

    Gastro- intestinal Pupillary Response Respiratory Salivary Amylase Vascular Manipulative Body-Based/ Tension-Release Practices Trauma...Physiological Activities ANS Physiological Activities Cardiac Pupillary Response Catecholamines Respiration Cortisol Salivary Amylase Galvanic Skin...Measures of Autonomic Nervous System Regulation Salivary Amylase Measurement Most measures of salivary amylase

  20. Is decentralization good for logistics systems? Evidence on essential medicine logistics in Ghana and Guatemala.

    PubMed

    Bossert, Thomas J; Bowser, Diana M; Amenyah, Johnnie K

    2007-03-01

    Efficient logistics systems move essential medicines down the supply chain to the service delivery point, and then to the end user. Experts on logistics systems tend to see the supply chain as requiring centralized control to be most effective. However, many health reforms have involved decentralization, which experts fear has disrupted the supply chain and made systems less effective. There is no consensus on an appropriate methodology for assessing the effectiveness of decentralization in general, and only a few studies have attempted to address decentralization of logistics systems. This paper sets out a framework and methodology of a pioneering exploratory study that examines the experiences of decentralization in two countries, Guatemala and Ghana, and presents suggestive results of how decentralization affected the performance of their logistics systems. The analytical approach assessed decentralization using the principal author's 'decision space' approach, which defines decentralization as the degree of choice that local officials have over different health system functions. In this case the approach focused on 15 different logistics functions and measured the relationship between the degree of choice and indicators of performance for each of the functions. The results of both studies indicate that less choice (i.e. more centralized) was associated with better performance for two key functions (inventory control and information systems), while more choice (i.e. more decentralized) over planning and budgeting was associated with better performance. With different systems of procurement in Ghana and Guatemala, we found that a system with some elements of procurement that are centralized (selection of firms and prices fixed by national tender) was positively related in Guatemala but negatively related in Ghana, where a system of 'cash and carry' cost recovery allowed more local choice. The authors conclude that logistics systems can be effectively

  1. A Robust Compositional Architecture for Autonomous Systems

    NASA Technical Reports Server (NTRS)

    Brat, Guillaume; Deney, Ewen; Farrell, Kimberley; Giannakopoulos, Dimitra; Jonsson, Ari; Frank, Jeremy; Bobby, Mark; Carpenter, Todd; Estlin, Tara

    2006-01-01

    Space exploration applications can benefit greatly from autonomous systems. Great distances, limited communications and high costs make direct operations impossible while mandating operations reliability and efficiency beyond what traditional commanding can provide. Autonomous systems can improve reliability and enhance spacecraft capability significantly. However, there is reluctance to utilizing autonomous systems. In part this is due to general hesitation about new technologies, but a more tangible concern is that of reliability of predictability of autonomous software. In this paper, we describe ongoing work aimed at increasing robustness and predictability of autonomous software, with the ultimate goal of building trust in such systems. The work combines state-of-the-art technologies and capabilities in autonomous systems with advanced validation and synthesis techniques. The focus of this paper is on the autonomous system architecture that has been defined, and on how it enables the application of validation techniques for resulting autonomous systems.

  2. Design of decentralized multivariable excitation controllers in multimachine power systems by projective controls

    SciTech Connect

    Arnautovic, D.; Medanic, J.

    1987-12-01

    A methodology for the design of decentralized multivariable excitation and controllers in multimachine power systems is developed using projective controls. The existing methodology, is extended to permit the coordinated design of AVR and PSS controllers in power systems.

  3. Semi autonomous mine detection system

    NASA Astrophysics Data System (ADS)

    Few, Doug; Versteeg, Roelof; Herman, Herman

    2010-04-01

    CMMAD is a risk reduction effort for the AMDS program. As part of CMMAD, multiple instances of semi autonomous robotic mine detection systems were created. Each instance consists of a robotic vehicle equipped with sensors required for navigation and marking, countermine sensors and a number of integrated software packages which provide for real time processing of the countermine sensor data as well as integrated control of the robotic vehicle, the sensor actuator and the sensor. These systems were used to investigate critical interest functions (CIF) related to countermine robotic systems. To address the autonomy CIF, the INL developed RIK was extended to allow for interaction with a mine sensor processing code (MSPC). In limited field testing this system performed well in detecting, marking and avoiding both AT and AP mines. Based on the results of the CMMAD investigation we conclude that autonomous robotic mine detection is feasible. In addition, CMMAD contributed critical technical advances with regard to sensing, data processing and sensor manipulation, which will advance the performance of future fieldable systems. As a result, no substantial technical barriers exist which preclude - from an autonomous robotic perspective - the rapid development and deployment of fieldable systems.

  4. Semi autonomous mine detection system

    SciTech Connect

    Douglas Few; Roelof Versteeg; Herman Herman

    2010-04-01

    CMMAD is a risk reduction effort for the AMDS program. As part of CMMAD, multiple instances of semi autonomous robotic mine detection systems were created. Each instance consists of a robotic vehicle equipped with sensors required for navigation and marking, a countermine sensors and a number of integrated software packages which provide for real time processing of the countermine sensor data as well as integrated control of the robotic vehicle, the sensor actuator and the sensor. These systems were used to investigate critical interest functions (CIF) related to countermine robotic systems. To address the autonomy CIF, the INL developed RIK was extended to allow for interaction with a mine sensor processing code (MSPC). In limited field testing this system performed well in detecting, marking and avoiding both AT and AP mines. Based on the results of the CMMAD investigation we conclude that autonomous robotic mine detection is feasible. In addition, CMMAD contributed critical technical advances with regard to sensing, data processing and sensor manipulation, which will advance the performance of future fieldable systems. As a result, no substantial technical barriers exist which preclude – from an autonomous robotic perspective – the rapid development and deployment of fieldable systems.

  5. MASDynamics: Toward Systemic Modeling of Decentralized Agent Coordination

    NASA Astrophysics Data System (ADS)

    Sudeikat, Jan; Renz, Wolfgang

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

  6. A robust decentralized load frequency controller for interconnected power systems.

    PubMed

    Dong, Lili; Zhang, Yao; Gao, Zhiqiang

    2012-05-01

    A novel design of a robust decentralized load frequency control (LFC) algorithm is proposed for an inter-connected three-area power system, for the purpose of regulating area control error (ACE) in the presence of system uncertainties and external disturbances. The design is based on the concept of active disturbance rejection control (ADRC). Estimating and mitigating the total effect of various uncertainties in real time, ADRC is particularly effective against a wide range of parameter variations, model uncertainties, and large disturbances. Furthermore, with only two tuning parameters, the controller provides a simple and easy-to-use solution to complex engineering problems in practice. Here, an ADRC-based LFC solution is developed for systems with turbines of various types, such as non-reheat, reheat, and hydraulic. The simulation results verified the effectiveness of the ADRC, in comparison with an existing PI-type controller tuned via genetic algorithm linear matrix inequalities (GALMIs). The comparison results show the superiority of the proposed solution. Moreover, the stability and robustness of the closed-loop system is studied using frequency-domain analysis.

  7. Spaceborne autonomous multiprocessor systems

    NASA Technical Reports Server (NTRS)

    Fernquist, Alan

    1990-01-01

    The goal of this task is to provide technology for the specification and integration of advanced processors into the Space Station Freedom data management system environment through computer performance measurement tools, simulators, and an extended testbed facility. The approach focuses on five categories: (1) user requirements--determine the suitability of existing computer technologies and systems for real-time requirements of NASA missions; (2) system performance analysis--characterize the effects of languages, architectures, and commercially available hardware on real-time benchmarks; (3) system architecture--expand NASA's capability to solve problems with integrated numeric and symbolic requirements using advanced multiprocessor architectures; (4) parallel Ada technology--extend Ada software technology to utilize parallel architectures more efficiently; and (5) testbed--extend in-house testbed to support system performance and system analysis studies.

  8. Multi-agent autonomous system

    NASA Technical Reports Server (NTRS)

    Fink, Wolfgang (Inventor); Dohm, James (Inventor); Tarbell, Mark A. (Inventor)

    2010-01-01

    A multi-agent autonomous system for exploration of hazardous or inaccessible locations. The multi-agent autonomous system includes simple surface-based agents or craft controlled by an airborne tracking and command system. The airborne tracking and command system includes an instrument suite used to image an operational area and any craft deployed within the operational area. The image data is used to identify the craft, targets for exploration, and obstacles in the operational area. The tracking and command system determines paths for the surface-based craft using the identified targets and obstacles and commands the craft using simple movement commands to move through the operational area to the targets while avoiding the obstacles. Each craft includes its own instrument suite to collect information about the operational area that is transmitted back to the tracking and command system. The tracking and command system may be further coupled to a satellite system to provide additional image information about the operational area and provide operational and location commands to the tracking and command system.

  9. Integrated System for Autonomous Science

    NASA Technical Reports Server (NTRS)

    Chien, Steve; Sherwood, Robert; Tran, Daniel; Cichy, Benjamin; Davies, Ashley; Castano, Rebecca; Rabideau, Gregg; Frye, Stuart; Trout, Bruce; Shulman, Seth; Doggett, Thomas; Ip, Felipe; Greeley, Ron; Baker, Victor; Dohn, James; Boyer, Darrell

    2006-01-01

    The New Millennium Program Space Technology 6 Project Autonomous Sciencecraft software implements an integrated system for autonomous planning and execution of scientific, engineering, and spacecraft-coordination actions. A prior version of this software was reported in "The TechSat 21 Autonomous Sciencecraft Experiment" (NPO-30784), NASA Tech Briefs, Vol. 28, No. 3 (March 2004), page 33. This software is now in continuous use aboard the Earth Orbiter 1 (EO-1) spacecraft mission and is being adapted for use in the Mars Odyssey and Mars Exploration Rovers missions. This software enables EO-1 to detect and respond to such events of scientific interest as volcanic activity, flooding, and freezing and thawing of water. It uses classification algorithms to analyze imagery onboard to detect changes, including events of scientific interest. Detection of such events triggers acquisition of follow-up imagery. The mission-planning component of the software develops a response plan that accounts for visibility of targets and operational constraints. The plan is then executed under control by a task-execution component of the software that is capable of responding to anomalies.

  10. The Autonomous Pathogen Detection System

    SciTech Connect

    Dzenitis, J M; Makarewicz, A J

    2009-01-13

    We developed, tested, and now operate a civilian biological defense capability that continuously monitors the air for biological threat agents. The Autonomous Pathogen Detection System (APDS) collects, prepares, reads, analyzes, and reports results of multiplexed immunoassays and multiplexed PCR assays using Luminex{copyright} xMAP technology and flow cytometer. The mission we conduct is particularly demanding: continuous monitoring, multiple threat agents, high sensitivity, challenging environments, and ultimately extremely low false positive rates. Here, we introduce the mission requirements and metrics, show the system engineering and analysis framework, and describe the progress to date including early development and current status.

  11. Organizational precedents for ownership and management of decentralized renewable-energy systems

    SciTech Connect

    Meunier, R.; Silversmith, J.A.

    1981-03-01

    Three existing organizational types that meet the decentralization criteria of local consumer ownership and control - cooperatives, Rural Electric Cooperatives, and municipal utilities - are examined. These three organizational precedents are analyzed in terms of their histories, structures, legal powers, sources of capital, and social and political aspects. Examples of related experiments with renewable energy technologies are given, and inferences are drawn regarding the organizations' suitability as vehicles for future implementation of decentralized renewable energy systems.

  12. APDS: Autonomous Pathogen Detection System

    SciTech Connect

    Langlois, R G; Brown, S; Burris, L; Colston, B; Jones, L; Makarewicz, T; Mariella, R; Masquelier, D; McBride, M; Milanovich, F; Masarabadi, S; Venkateswaran, K; Marshall, G; Olson, D; Wolcott, D

    2002-02-14

    An early warning system to counter bioterrorism, the Autonomous Pathogen Detection System (APDS) continuously monitors the environment for the presence of biological pathogens (e.g., anthrax) and once detected, it sounds an alarm much like a smoke detector warns of a fire. Long before September 11, 2001, this system was being developed to protect domestic venues and events including performing arts centers, mass transit systems, major sporting and entertainment events, and other high profile situations in which the public is at risk of becoming a target of bioterrorist attacks. Customizing off-the-shelf components and developing new components, a multidisciplinary team developed APDS, a stand-alone system for rapid, continuous monitoring of multiple airborne biological threat agents in the environment. The completely automated APDS samples the air, prepares fluid samples in-line, and performs two orthogonal tests: immunoassay and nucleic acid detection. When compared to competing technologies, APDS is unprecedented in terms of flexibility and system performance.

  13. Distributed and Decentralized Control in Fully Distributed Processing Systems.

    DTIC Science & Technology

    1981-12-01

    TECH ATLANTA SCHOOL OF INFORMATION A--ETC F/6 9/2S DISTRIBUTED AND DECENTRALIZED CONTROL IN FILLY DISTRIBUTED PROC-- EVC (U) DEC SI T 6 SAPOWAS NOOOI-79-C...group 1 experiments. This iI neorela Institute of Technolorv FnP rrvt’l Section 7 ANALYSIS OF THE SIMULATION EXPERIMENTS Page 149 Table 21. Control

  14. Autonomous pathogen detection system 2001

    SciTech Connect

    Langlois, R G; Wang, A; Colston, B; Masquelier, D; Jones, L; Venkateswaran, K S; Nasarabadi, S; Brown, S; Ramponi, A; Milanovich, F P

    2001-01-09

    The objective of this project is to design, fabricate and field-demonstrate a fully Autonomous Pathogen Detector (identifier) System (APDS). This will be accomplished by integrating a proven flow cytometer and real-time polymerase chain reaction (PCR) detector with sample collection, sample preparation and fluidics to provide a compact, autonomously operating instrument capable of simultaneously detecting multiple pathogens and/or toxins. The APDS will be designed to operate in fixed locations, where it continuously monitors air samples and automatically reports the presence of specific biological agents. The APDS will utilize both multiplex immuno and nucleic acid assays to provide ''quasi-orthogonal'', multiple agent detection approaches to minimize false positives and increase the reliability of identification. Technical advancements across several fronts must first be made in order to realize the full extent of the APDS. Commercialization will be accomplished through three progressive generations of instruments. The APDS is targeted for domestic applications in which (1) the public is at high risk of exposure to covert releases of bioagent such as in major subway systems and other transportation terminals, large office complexes, and convention centers; and (2) as part of a monitoring network of sensors integrated with command and control systems for wide area monitoring of urban areas and major gatherings (e.g., inaugurations, Olympics, etc.). In this latter application there is potential that a fully developed APDS could add value to Defense Department monitoring architectures.

  15. Autonomous Biological System (ABS) experiments.

    PubMed

    MacCallum, T K; Anderson, G A; Poynter, J E; Stodieck, L S; Klaus, D M

    1998-12-01

    Three space flight experiments have been conducted to test and demonstrate the use of a passively controlled, materially closed, bioregenerative life support system in space. The Autonomous Biological System (ABS) provides an experimental environment for long term growth and breeding of aquatic plants and animals. The ABS is completely materially closed, isolated from human life support systems and cabin atmosphere contaminants, and requires little need for astronaut intervention. Testing of the ABS marked several firsts: the first aquatic angiosperms to be grown in space; the first higher organisms (aquatic invertebrate animals) to complete their life cycles in space; the first completely bioregenerative life support system in space; and, among the first gravitational ecology experiments. As an introduction this paper describes the ABS, its flight performance, advantages and disadvantages.

  16. Autonomic Computing for Spacecraft Ground Systems

    NASA Technical Reports Server (NTRS)

    Li, Zhenping; Savkli, Cetin; Jones, Lori

    2007-01-01

    Autonomic computing for spacecraft ground systems increases the system reliability and reduces the cost of spacecraft operations and software maintenance. In this paper, we present an autonomic computing solution for spacecraft ground systems at NASA Goddard Space Flight Center (GSFC), which consists of an open standard for a message oriented architecture referred to as the GMSEC architecture (Goddard Mission Services Evolution Center), and an autonomic computing tool, the Criteria Action Table (CAT). This solution has been used in many upgraded ground systems for NASA 's missions, and provides a framework for developing solutions with higher autonomic maturity.

  17. Testbed for an autonomous system

    NASA Technical Reports Server (NTRS)

    Dikshit, Piyush; Guimaraes, Katia; Ramamurthy, Maya; Agrawala, Ashok K.; Larsen, Ronald L.

    1989-01-01

    In previous works we have defined a general architectural model for autonomous systems, which can easily be mapped to describe the functions of any automated system (SDAG-86-01), and we illustrated that model by applying it to the thermal management system of a space station (SDAG-87-01). In this note, we will further develop that application and design the detail of the implementation of such a model. First we present the environment of our application by describing the thermal management problem and an abstraction, which was called TESTBED, that includes a specific function for each module in the architecture, and the nature of the interfaces between each pair of blocks.

  18. An Autonomous Flight Safety System

    NASA Technical Reports Server (NTRS)

    Bull, James B.; Lanzi, Raymond J.

    2007-01-01

    The Autonomous Flight Safety System (AFSS) being developed by NASA s Goddard Space Flight Center s Wallops Flight Facility and Kennedy Space Center has completed two successful developmental flights and is preparing for a third. AFSS has been demonstrated to be a viable architecture for implementation of a completely vehicle based system capable of protecting life and property in event of an errant vehicle by terminating the flight or initiating other actions. It is capable of replacing current human-in-the-loop systems or acting in parallel with them. AFSS is configured prior to flight in accordance with a specific rule set agreed upon by the range safety authority and the user to protect the public and assure mission success. This paper discusses the motivation for the project, describes the method of development, and presents an overview of the evolving architecture and the current status.

  19. Resource allocation and budgetary mechanisms for decentralized health systems: experiences from Balochistan, Pakistan.

    PubMed Central

    Green, A.; Ali, B.; Naeem, A.; Ross, D.

    2000-01-01

    This paper identifies key political and technical issues involved in the development of an appropriate resource allocation and budgetary system for the public health sector, using experience gained in the Province of Balochistan, Pakistan. The resource allocation and budgetary system is a critical, yet often neglected, component of any decentralization policy. Current systems are often based on historical incrementalism that is neither efficient nor equitable. This article describes technical work carried out in Balochistan to develop a system of resource allocation and budgeting that is needs-based, in line with policies of decentralization, and implementable within existing technical constraints. However, the development of technical systems, while necessary, is not a sufficient condition for the implementation of a resource allocation and decentralized budgeting system. This is illustrated by analysing the constraints that have been encountered in the development of such a system in Balochistan. PMID:10994286

  20. Towards an Autonomic Cluster Management System (ACMS) with Reflex Autonomicity

    NASA Technical Reports Server (NTRS)

    Truszkowski, Walt; Hinchey, Mike; Sterritt, Roy

    2005-01-01

    Cluster computing, whereby a large number of simple processors or nodes are combined together to apparently function as a single powerful computer, has emerged as a research area in its own right. The approach offers a relatively inexpensive means of providing a fault-tolerant environment and achieving significant computational capabilities for high-performance computing applications. However, the task of manually managing and configuring a cluster quickly becomes daunting as the cluster grows in size. Autonomic computing, with its vision to provide self-management, can potentially solve many of the problems inherent in cluster management. We describe the development of a prototype Autonomic Cluster Management System (ACMS) that exploits autonomic properties in automating cluster management and its evolution to include reflex reactions via pulse monitoring.

  1. Financial management systems under decentralization and their effect on malaria control in Uganda.

    PubMed

    Kivumbi, George W; Nangendo, Florence; Ndyabahika, Boniface Rutagira

    2004-01-01

    A descriptive case study with multiple sites and a single level of analysis was carried out in four purposefully selected administrative districts of Uganda to investigate the effect of financial management systems under decentralization on malaria control. Data were primarily collected from 36 interviews with district managers, staff at health units and local leaders. A review of records and documents related to decentralization at the central and district level was also used to generate data for the study. We found that a long, tedious, and bureaucratic process combined with lack of knowledge in working with new financial systems by several actors characterized financial flow under decentralization. This affected the timely use of financial resources for malaria control in that there were funds in the system that could not be accessed for use. We were also told that sometimes these funds were returned to the central government because of non-use due to difficulties in accessing them and/or stringent conditions not to divert them to other uses. Our data showed that a cocktail of bureaucratic control systems, corruption and incompetence make the financial management system under decentralization counter-productive for malaria control. The main conclusion is that good governance through appropriate and efficient financial management systems is very important for effective malaria control under decentralization.

  2. Information for Successful Interaction with Autonomous Systems

    NASA Technical Reports Server (NTRS)

    Malin, Jane T.; Johnson, Kathy A.

    2003-01-01

    Interaction in heterogeneous mission operations teams is not well matched to classical models of coordination with autonomous systems. We describe methods of loose coordination and information management in mission operations. We describe an information agent and information management tool suite for managing information from many sources, including autonomous agents. We present an integrated model of levels of complexity of agent and human behavior, which shows types of information processing and points of potential error in agent activities. We discuss the types of information needed for diagnosing problems and planning interactions with an autonomous system. We discuss types of coordination for which designs are needed for autonomous system functions.

  3. Autonomous power system intelligent diagnosis and control

    NASA Technical Reports Server (NTRS)

    Ringer, Mark J.; Quinn, Todd M.; Merolla, Anthony

    1991-01-01

    The Autonomous Power System (APS) project at NASA Lewis Research Center is designed to demonstrate the abilities of integrated intelligent diagnosis, control, and scheduling techniques to space power distribution hardware. Knowledge-based software provides a robust method of control for highly complex space-based power systems that conventional methods do not allow. The project consists of three elements: the Autonomous Power Expert System (APEX) for fault diagnosis and control, the Autonomous Intelligent Power Scheduler (AIPS) to determine system configuration, and power hardware (Brassboard) to simulate a space based power system. The operation of the Autonomous Power System as a whole is described and the responsibilities of the three elements - APEX, AIPS, and Brassboard - are characterized. A discussion of the methodologies used in each element is provided. Future plans are discussed for the growth of the Autonomous Power System.

  4. Decentralized control of continuous time interconnected stochastic systems based on successive pole assignment

    NASA Astrophysics Data System (ADS)

    Ray, G.; Yadaiah, N.

    1992-12-01

    A simple decentralized Kalman filter based regulator problem is proposed to achieve sub-system closed-loop eigenvalues at desired locations and subsequently to minimize the local quadratic performance index of each decoupled sub-system. The proposed scheme reduces the information exchange, telemetry and instrumentation costs and computational burden compared to a centralized control scheme. A consideration of the stability of the global decentralized control system is included. The effectiveness of the proposed control scheme is tested by considering a load-frequency control problem of a two-area power system.

  5. Towards real-time decentralized operating systems for ballistic missile defense

    SciTech Connect

    Van Tilborg, A.M.

    1982-01-01

    To satisfy the data processing needs of future ballistic missile defense systems, the US Army's ballistic missile defense advanced technology center is sponsoring extensive research on the subject of parallel computers. Both loosely coupled and tightly coupled machines consisting of numerous microcomputer processing elements are being evaluated for use in endoatmospheric, exoatmospheric, and space-based BMD systems. For various reasons, it is important that these parallel computers operate under the control of decentralized operating systems. This paper reports on the current status of research to develop decentralized operating systems for parallel computers used in ballistic missile defense. 24 references.

  6. Autonomic nervous system and immune system interactions.

    PubMed

    Kenney, M J; Ganta, C K

    2014-07-01

    The present review assesses the current state of literature defining integrative autonomic-immune physiological processing, focusing on studies that have employed electrophysiological, pharmacological, molecular biological, and central nervous system experimental approaches. Central autonomic neural networks are informed of peripheral immune status via numerous communicating pathways, including neural and non-neural. Cytokines and other immune factors affect the level of activity and responsivity of discharges in sympathetic and parasympathetic nerves innervating diverse targets. Multiple levels of the neuraxis contribute to cytokine-induced changes in efferent parasympathetic and sympathetic nerve outflows, leading to modulation of peripheral immune responses. The functionality of local sympathoimmune interactions depends on the microenvironment created by diverse signaling mechanisms involving integration between sympathetic nervous system neurotransmitters and neuromodulators; specific adrenergic receptors; and the presence or absence of immune cells, cytokines, and bacteria. Functional mechanisms contributing to the cholinergic anti-inflammatory pathway likely involve novel cholinergic-adrenergic interactions at peripheral sites, including autonomic ganglion and lymphoid targets. Immune cells express adrenergic and nicotinic receptors. Neurotransmitters released by sympathetic and parasympathetic nerve endings bind to their respective receptors located on the surface of immune cells and initiate immune-modulatory responses. Both sympathetic and parasympathetic arms of the autonomic nervous system are instrumental in orchestrating neuroimmune processes, although additional studies are required to understand dynamic and complex adrenergic-cholinergic interactions. Further understanding of regulatory mechanisms linking the sympathetic nervous, parasympathetic nervous, and immune systems is critical for understanding relationships between chronic disease

  7. Autonomous navigation system and method

    DOEpatents

    Bruemmer, David J [Idaho Falls, ID; Few, Douglas A [Idaho Falls, ID

    2009-09-08

    A robot platform includes perceptors, locomotors, and a system controller, which executes instructions for autonomously navigating a robot. The instructions repeat, on each iteration through an event timing loop, the acts of defining an event horizon based on the robot's current velocity, detecting a range to obstacles around the robot, testing for an event horizon intrusion by determining if any range to the obstacles is within the event horizon, and adjusting rotational and translational velocity of the robot accordingly. If the event horizon intrusion occurs, rotational velocity is modified by a proportion of the current rotational velocity reduced by a proportion of the range to the nearest obstacle and translational velocity is modified by a proportion of the range to the nearest obstacle. If no event horizon intrusion occurs, translational velocity is set as a ratio of a speed factor relative to a maximum speed.

  8. Compact Autonomous Hemispheric Vision System

    NASA Technical Reports Server (NTRS)

    Pingree, Paula J.; Cunningham, Thomas J.; Werne, Thomas A.; Eastwood, Michael L.; Walch, Marc J.; Staehle, Robert L.

    2012-01-01

    Solar System Exploration camera implementations to date have involved either single cameras with wide field-of-view (FOV) and consequently coarser spatial resolution, cameras on a movable mast, or single cameras necessitating rotation of the host vehicle to afford visibility outside a relatively narrow FOV. These cameras require detailed commanding from the ground or separate onboard computers to operate properly, and are incapable of making decisions based on image content that control pointing and downlink strategy. For color, a filter wheel having selectable positions was often added, which added moving parts, size, mass, power, and reduced reliability. A system was developed based on a general-purpose miniature visible-light camera using advanced CMOS (complementary metal oxide semiconductor) imager technology. The baseline camera has a 92 FOV and six cameras are arranged in an angled-up carousel fashion, with FOV overlaps such that the system has a 360 FOV (azimuth). A seventh camera, also with a FOV of 92 , is installed normal to the plane of the other 6 cameras giving the system a > 90 FOV in elevation and completing the hemispheric vision system. A central unit houses the common electronics box (CEB) controlling the system (power conversion, data processing, memory, and control software). Stereo is achieved by adding a second system on a baseline, and color is achieved by stacking two more systems (for a total of three, each system equipped with its own filter.) Two connectors on the bottom of the CEB provide a connection to a carrier (rover, spacecraft, balloon, etc.) for telemetry, commands, and power. This system has no moving parts. The system's onboard software (SW) supports autonomous operations such as pattern recognition and tracking.

  9. System Engineering of Autonomous Space Vehicles

    NASA Technical Reports Server (NTRS)

    Watson, Michael D.; Johnson, Stephen B.; Trevino, Luis

    2014-01-01

    Human exploration of the solar system requires fully autonomous systems when travelling more than 5 light minutes from Earth. This autonomy is necessary to manage a large, complex spacecraft with limited crew members and skills available. The communication latency requires the vehicle to deal with events with only limited crew interaction in most cases. The engineering of these systems requires an extensive knowledge of the spacecraft systems, information theory, and autonomous algorithm characteristics. The characteristics of the spacecraft systems must be matched with the autonomous algorithm characteristics to reliably monitor and control the system. This presents a large system engineering problem. Recent work on product-focused, elegant system engineering will be applied to this application, looking at the full autonomy stack, the matching of autonomous systems to spacecraft systems, and the integration of different types of algorithms. Each of these areas will be outlined and a general approach defined for system engineering to provide the optimal solution to the given application context.

  10. A Supply Chain Architecture Based on Multi-agent Systems to Support Decentralized Collaborative Processes

    NASA Astrophysics Data System (ADS)

    Hernández, Jorge E.; Poler, Raúl; Mula, Josefa

    In a supply chain management context, the enterprise architecture concept to efficiently support the collaborative processes among the supply chain members involved has been evolving. Each supply chain has an organizational structure that describes the hierarchical relationships among its members, ranging from centralized to decentralized organizations. From a decentralized perspective, each supply chain member is able to identify collaborative and non collaborative partners and the kind of information to be exchanged to support negotiation processes. The same concepts of organizational structure and negotiation rules can be applied to a multi-agent system. This paper proposes a novel supply chain architecture to support decentralized collaborative processes in supply chains by considering a multi-agent-based system modeling approach.

  11. Autonomous Operations System: Development and Application

    NASA Technical Reports Server (NTRS)

    Toro Medina, Jaime A.; Wilkins, Kim N.; Walker, Mark; Stahl, Gerald M.

    2016-01-01

    Autonomous control systems provides the ability of self-governance beyond the conventional control system. As the complexity of mechanical and electrical systems increases, there develops a natural drive for developing robust control systems to manage complicated operations. By closing the bridge between conventional automated systems to knowledge based self-awareness systems, nominal control of operations can evolve into relying on safe critical mitigation processes to support any off-nominal behavior. Current research and development efforts lead by the Autonomous Propellant Loading (APL) group at NASA Kennedy Space Center aims to improve cryogenic propellant transfer operations by developing an automated control and health monitoring system. As an integrated systems, the center aims to produce an Autonomous Operations System (AOS) capable of integrating health management operations with automated control to produce a fully autonomous system.

  12. A Feasibility Analysis Methodology for Decentralized Wastewater Systems - Energy-Efficiency and Cost.

    PubMed

    Naik, Kartiki S; Stenstrom, Michael K

    2016-03-01

    Centralized wastewater treatment, widely practiced in developed areas, involves transporting wastewater from large urban areas to a large capacity plant using a single network of sewers, whereas decentralization is the concept of wastewater collection, treatment and reuse at or near its point of generation. Smaller decentralized plants can achieve extensive reclamation and wastewater management with energy-efficient reclaimed water pumping, modularized expansion and lower capital investment. We devised a methodology to preliminarily assess these alternatives using local constraints and conducted a feasibility analysis for each option. It addressed various scenarios using the pump-back energy consumption, sewer and treatment plant construction and capacity expansion cost. We demonstrated this methodology by applying it to the Hollywood vicinity (California). In this study, the decentralized configuration was more economical and energy-efficient than the centralized system. The pump-back energy consumption was about 50% of the aeration energy consumption for the centralized option.

  13. Decentralized Adaptive Control of Systems with Uncertain Interconnections, Plant-Model Mismatch and Actuator Failures

    NASA Technical Reports Server (NTRS)

    Patre, Parag; Joshi, Suresh M.

    2011-01-01

    Decentralized adaptive control is considered for systems consisting of multiple interconnected subsystems. It is assumed that each subsystem s parameters are uncertain and the interconnection parameters are not known. In addition, mismatch can exist between each subsystem and its reference model. A strictly decentralized adaptive control scheme is developed, wherein each subsystem has access only to its own state but has the knowledge of all reference model states. The mismatch is estimated online for each subsystem and the mismatch estimates are used to adaptively modify the corresponding reference models. The adaptive control scheme is extended to the case with actuator failures in addition to mismatch.

  14. De-centralized and centralized control for realistic EMS Maglev systems

    NASA Astrophysics Data System (ADS)

    Moawad, Mohamed M. Aly M.

    A comparative study of de-centralized and centralized controllers when used with real EMS Maglev Systems is introduced. This comparison is divided into two parts. Part I is concerned with numerical simulation and experimental testing on a two ton six-magnet EMS Maglev vehicle. Levitation and lateral control with these controllers individually and when including flux feedback control in combination with these controllers to enhance stability are introduced. The centralized controller is better than the de-centralized one when the system is exposed to a lateral disturbing force such as wind gusts. The flux feedback control when combined with de-centralized or centralized controllers does improve the stability and is more resistant and robust with respect to the air gap variations. Part II is concerned with the study of Maglev vehicle-girder dynamic interaction system and the comparison between these two controllers on this typical system based on performance and ride quality achieved. Numerical simulations of the ODU EMS Maglev vehicle interacting with girder are conducted with these two different controllers. The de-centralized and centralized control for EMS Maglev systems that interact with a flexible girder provides similar ride quality. Centralized control with flux feedback could be the best controller for the ODU Maglev system when operating on girder. The centralized control will guarantee the suppression of the undesired lateral displacements; hence it will provide smoother ride quality. Flux feedback will suppress air gap variations due to the track discontinuities.

  15. Back to basics: does decentralization improve health system performance? Evidence from Ceara in north-east Brazil.

    PubMed Central

    Atkinson, Sarah; Haran, Dave

    2004-01-01

    OBJECTIVE: To examine whether decentralization has improved health system performance in the State of Ceara, north-east Brazil. METHODS: Ceara is strongly committed to decentralization. A survey across 45 local (municipio) health systems collected data on performance and formal organization, including decentralization, informal management and local political culture. The indicators for informal management and local political culture were based on prior ethnographic research. Data were analysed using analysis of variance, Duncan's post-hoc test and multiple regression. FINDINGS: Decentralization was associated with improved performance, but only for 5 of our 22 performance indicators. Moreover, in the multiple regression, decentralization explained the variance in only one performance indicator; indicators for informal management and political culture appeared to be more important influences. However, some indicators for informal management were themselves associated with decentralization but not any of the political culture indicators. CONCLUSION: Good management practices in the study led to decentralized local health systems rather than vice versa. Any apparent association between decentralization and performance seems to be an artefact of the informal management, and the wider political culture in which a local health system is embedded strongly influences the performance of local health systems. PMID:15640917

  16. The Secure, Transportable, Autonomous Reactor System

    SciTech Connect

    Brown, N.W.; Hassberger, J.A.; Smith, C.; Carelli, M.; Greenspan, E.; Peddicord, K.L.; Stroh, K.; Wade, D.C.; Hill, R.N.

    1999-05-27

    The Secure, Transportable, Autonomous Reactor (STAR) system is a development architecture for implementing a small nuclear power system, specifically aimed at meeting the growing energy needs of much of the developing world. It simultaneously provides very high standards for safety, proliferation resistance, ease and economy of installation, operation, and ultimate disposition. The STAR system accomplishes these objectives through a combination of modular design, factory manufacture, long lifetime without refueling, autonomous control, and high reliability.

  17. Iterative learning-based decentralized adaptive tracker for large-scale systems: a digital redesign approach.

    PubMed

    Tsai, Jason Sheng-Hong; Du, Yan-Yi; Huang, Pei-Hsiang; Guo, Shu-Mei; Shieh, Leang-San; Chen, Yuhua

    2011-07-01

    In this paper, a digital redesign methodology of the iterative learning-based decentralized adaptive tracker is proposed to improve the dynamic performance of sampled-data linear large-scale control systems consisting of N interconnected multi-input multi-output subsystems, so that the system output will follow any trajectory which may not be presented by the analytic reference model initially. To overcome the interference of each sub-system and simplify the controller design, the proposed model reference decentralized adaptive control scheme constructs a decoupled well-designed reference model first. Then, according to the well-designed model, this paper develops a digital decentralized adaptive tracker based on the optimal analog control and prediction-based digital redesign technique for the sampled-data large-scale coupling system. In order to enhance the tracking performance of the digital tracker at specified sampling instants, we apply the iterative learning control (ILC) to train the control input via continual learning. As a result, the proposed iterative learning-based decentralized adaptive tracker not only has robust closed-loop decoupled property but also possesses good tracking performance at both transient and steady state. Besides, evolutionary programming is applied to search for a good learning gain to speed up the learning process of ILC.

  18. An introduction to autonomous control systems

    NASA Technical Reports Server (NTRS)

    Antsaklis, Panos J.; Passino, Kevin M.; Wang, S. J.

    1991-01-01

    The functions, characteristics, and benefits of autonomous control are outlined. An autonomous control functional architecture for future space vehicles that incorporates the concepts and characteristics described is presented. The controller is hierarchical, with an execution level (the lowest level), coordination level (middle level), and management and organization level (highest level). The general characteristics of the overall architecture, including those of the three levels, are explained, and an example to illustrate their functions is given. Mathematical models for autonomous systems, including 'logical' discrete event system models, are discussed. An approach to the quantitative, systematic modeling, analysis, and design of autonomous controllers is also discussed. It is a hybrid approach since it uses conventional analysis techniques based on difference and differential equations and new techniques for the analysis of the systems described with a symbolic formalism such as finite automata. Some recent results from the areas of planning and expert systems, machine learning, artificial neural networks, and the area restructurable controls are briefly outlined.

  19. Intelligent control system of autonomous objects

    NASA Astrophysics Data System (ADS)

    Engel, E. A.; Kovalev, I. V.; Engel, N. E.; Brezitskaya, V. V.; Prohorovich, G. A.

    2017-02-01

    This paper presents an intelligent control system of autonomous objects as framework. The intelligent control framework includes two different layers: a reflexive layer and a reactive layer. The proposed multiagent adaptive fuzzy neuronet combines low-level reaction with high-level reasoning in an intelligent control framework. The formed as the multiagent adaptive fuzzy neuronet the intelligent control system on the base of autonomous object’s state, creates the effective control signal under random perturbations.

  20. Autonomous control systems - Architecture and fundamental issues

    NASA Technical Reports Server (NTRS)

    Antsaklis, P. J.; Passino, K. M.; Wang, S. J.

    1988-01-01

    A hierarchical functional autonomous controller architecture is introduced. In particular, the architecture for the control of future space vehicles is described in detail; it is designed to ensure the autonomous operation of the control system and it allows interaction with the pilot and crew/ground station, and the systems on board the autonomous vehicle. The fundamental issues in autonomous control system modeling and analysis are discussed. It is proposed to utilize a hybrid approach to modeling and analysis of autonomous systems. This will incorporate conventional control methods based on differential equations and techniques for the analysis of systems described with a symbolic formalism. In this way, the theory of conventional control can be fully utilized. It is stressed that autonomy is the design requirement and intelligent control methods appear at present, to offer some of the necessary tools to achieve autonomy. A conventional approach may evolve and replace some or all of the `intelligent' functions. It is shown that in addition to conventional controllers, the autonomous control system incorporates planning, learning, and FDI (fault detection and identification).

  1. Comparative anatomy of the autonomic nervous system.

    PubMed

    Nilsson, Stefan

    2011-11-16

    This short review aims to point out the general anatomical features of the autonomic nervous systems of non-mammalian vertebrates. In addition it attempts to outline the similarities and also the increased complexity of the autonomic nervous patterns from fish to tetrapods. With the possible exception of the cyclostomes, perhaps the most striking feature of the vertebrate autonomic nervous system is the similarity between the vertebrate classes. An evolution of the complexity of the system can be seen, with the segmental ganglia of elasmobranchs incompletely connected longitudinally, while well developed paired sympathetic chains are present in teleosts and the tetrapods. In some groups the sympathetic chains may be reduced (dipnoans and caecilians), and have yet to be properly described in snakes. Cranial autonomic pathways are present in the oculomotor (III) and vagus (X) nerves of gnathostome fish and the tetrapods, and with the evolution of salivary and lachrymal glands in the tetrapods, also in the facial (VII) and glossopharyngeal (IX) nerves.

  2. Autonomous underwater pipeline monitoring navigation system

    NASA Astrophysics Data System (ADS)

    Mitchell, Byrel; Mahmoudian, Nina; Meadows, Guy

    2014-06-01

    This paper details the development of an autonomous motion-control and navigation algorithm for an underwater autonomous vehicle, the Ocean Server IVER3, to track long linear features such as underwater pipelines. As part of this work, the Nonlinear and Autonomous Systems Laboratory (NAS Lab) developed an algorithm that utilizes inputs from the vehicles state of the art sensor package, which includes digital imaging, digital 3-D Sidescan Sonar, and Acoustic Doppler Current Profilers. The resulting algorithms should tolerate real-world waterway with episodic strong currents, low visibility, high sediment content, and a variety of small and large vessel traffic.

  3. The ecological filter system for treatment of decentralized wastewater.

    PubMed

    Zhong, Kun; Luo, Yi-Yong; Wu, Zheng-Song; He, Qiang; Hu, Xue-Bin; Jie, Qi-Wu; Li, Yan-Ting; Wang, Shao-Jie

    2016-10-01

    A vertical flow constructed wetland was combined with a biological aerated filter to develop an ecological filter, and to obtain the optimal operating parameters: The hydraulic loading was 1.55 m(3)/(m(2)·d), carbon-nitrogen ratio was 10, and gas-water ratio was 6. The experimental results demonstrated considerable removal efficiency of chemical oxygen demand (COD), ammonia nitrogen (NH4(+)-N), total nitrogen (TN), and total phosphorus (TP) in wastewater by the ecological filter, with average removal rates of 83.79%, 93.10%, 52.90%, and 79.07%, respectively. Concentration of NH4(+)-N after treatment met the level-A discharge standard of GB18918-2002. Compared with non-plant filter, the ecological filter improved average removal efficiency of COD, NH4(+)-N, TN, and TP by 13.03%, 25.30%, 14.80%, and 2.32%, respectively: thus, plants significantly contribute to the removal of organic pollutants and nitrogen. Through microporous aeration and O2 secretion of plants, the ecological filter formed an aerobic-anaerobic-aerobic alternating environment; thus aerobic and anaerobic microbes were active and effectively removed organic pollutants. Meanwhile, nitrogen and phosphorus were directly assimilated by plants and as nutrients of microorganisms. Meanwhile, pollutants were removed through nitrification, denitrification, filtration, adsorption, and interception by the filler. High removal rates of pollutants on the ecological filter proved that it is an effective wastewater-treatment technology for decentralized wastewater of mountainous towns.

  4. Decentralized wastewater management

    SciTech Connect

    Tchobanoglous, G.

    1998-07-01

    Decentralized wastewater management systems maintain both the solid and liquid fractions of the wastewater near their point of origin. In the future, as long-term strategies are developed to optimize the use of water resources and to protect the environment, it is clear that decentralized systems will become an important element of those strategies.

  5. Autonomous Attitude Determination System (AADS). Volume 1: System description

    NASA Technical Reports Server (NTRS)

    Saralkar, K.; Frenkel, Y.; Klitsch, G.; Liu, K. S.; Lefferts, E.; Tasaki, K.; Snow, F.; Garrahan, J.

    1982-01-01

    Information necessary to understand the Autonomous Attitude Determination System (AADS) is presented. Topics include AADS requirements, program structure, algorithms, and system generation and execution.

  6. Decentralized system identification using stochastic subspace identification for wireless sensor networks.

    PubMed

    Cho, Soojin; Park, Jong-Woong; Sim, Sung-Han

    2015-04-08

    Wireless sensor networks (WSNs) facilitate a new paradigm to structural identification and monitoring for civil infrastructure. Conventional structural monitoring systems based on wired sensors and centralized data acquisition systems are costly for installation as well as maintenance. WSNs have emerged as a technology that can overcome such difficulties, making deployment of a dense array of sensors on large civil structures both feasible and economical. However, as opposed to wired sensor networks in which centralized data acquisition and processing is common practice, WSNs require decentralized computing algorithms to reduce data transmission due to the limitation associated with wireless communication. In this paper, the stochastic subspace identification (SSI) technique is selected for system identification, and SSI-based decentralized system identification (SDSI) is proposed to be implemented in a WSN composed of Imote2 wireless sensors that measure acceleration. The SDSI is tightly scheduled in the hierarchical WSN, and its performance is experimentally verified in a laboratory test using a 5-story shear building model.

  7. Decentralized systems for potable water and the potential of membrane technology.

    PubMed

    Peter-Varbanets, Maryna; Zurbrügg, Chris; Swartz, Chris; Pronk, Wouter

    2009-02-01

    Decentralized drinking-water systems are an important element in the process of reaching the Millennium Development Goals, as centralized systems are often deficient or non-existent in developing and transition countries (DC and TC). Most water-quality problems are due to hygiene factors and pathogens. A range of decentralized systems is available to counter these problems, including thermal and/or UV methods, physical removal and chemical treatment. This review focuses on decentralized systems that treat the potable water (drinking and cooking) of a single household (point-of-use systems) or a community (small-scale systems). For application in DC and TC, important boundary conditions for decentralized systems include low costs, ease of use, sustainability, low maintenance and independence of utilities (energy sources). Although some low-cost systems are available, their application is limited by time-consuming daily operation and maintenance. Other systems are too expensive for the poor populations of DC and TC and in most cases do not fulfill the system requirements described above. Point-of-use systems based on membranes are commercially available and are designed to operate on tap pressure or gravity. Membrane systems are attractive since they provide an absolute barrier for pathogens and remove turbidity, thus increasing the palatability of the water. The costs of membrane have decreased rapidly during the last decades and therefore membrane systems have also become within reach for application in low-cost applications in DC and TC. Some membrane systems rely on gravity as a driving force, thereby avoiding the use of pumps and electricity. On the basis of the present literature data, no small-scale systems could be identified which meet all the requirements for successful implementation. Furthermore, in the available literature the performance of highly fouling water types has not been reported. For such cases, more extensive studies are required and a need

  8. The rise of governmentality in the Italian National Health System: physiology or pathology of a decentralized and (ongoing) federalist system?

    PubMed

    Lega, Federico; Sargiacomo, Massimo; Ianni, Luca

    2010-11-01

    In this paper, we aim to discuss the implications and lessons that can be learnt from the ongoing process of federalism affecting the Italian National Health System (INHS). Many countries are currently taking decisions concerning the decentralization or re-centralization of their health-care systems, with several key issues that are illustrated in the recent history of the INHS. The decentralization process of INHS has produced mixed results, as some regions took advantage of it to strengthen their systems, whereas others were not capable of developing an effective steering role. We argue that the mutual reinforcement of the decentralization and recentralization processes is not paradoxical, but is actually an effective way for the State to maintain control over the equity and efficiency of its health-care system while decentralizing at a regional level. In this perspective, we provide evidence backing up some of the assumptions made in previous works as well as new food-for thought - specifically on how governmentality and federalism should meet - to reshape the debate on decentralization in health care.

  9. Sensorpedia: Information Sharing Across Autonomous Sensor Systems

    SciTech Connect

    Gorman, Bryan L; Resseguie, David R; Tomkins-Tinch, Christopher H

    2009-01-01

    The concept of adapting social media technologies is introduced as a means of achieving information sharing across autonomous sensor systems. Historical examples of interoperability as an underlying principle in loosely-coupled systems is compared and contrasted with corresponding tightly-coupled, integrated systems. Examples of ad hoc information sharing solutions based on Web 2.0 social networks, mashups, blogs, wikis, and data tags are presented and discussed. The underlying technologies of these solutions are isolated and defined, and Sensorpedia is presented as a formalized application for implementing sensor information sharing across large-scale enterprises with incompatible autonomous sensor systems.

  10. On the decentralized control of large-scale systems. Ph.D. Thesis

    NASA Technical Reports Server (NTRS)

    Chong, C.

    1973-01-01

    The decentralized control of stochastic large scale systems was considered. Particular emphasis was given to control strategies which utilize decentralized information and can be computed in a decentralized manner. The deterministic constrained optimization problem is generalized to the stochastic case when each decision variable depends on different information and the constraint is only required to be satisfied on the average. For problems with a particular structure, a hierarchical decomposition is obtained. For the stochastic control of dynamic systems with different information sets, a new kind of optimality is proposed which exploits the coupled nature of the dynamic system. The subsystems are assumed to be uncoupled and then certain constraints are required to be satisfied, either in a off-line or on-line fashion. For off-line coordination, a hierarchical approach of solving the problem is obtained. The lower level problems are all uncoupled. For on-line coordination, distinction is made between open loop feedback optimal coordination and closed loop optimal coordination.

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

    NASA Astrophysics Data System (ADS)

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

    2015-12-01

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

  12. Autonomous Organization-Based Adaptive Information Systems

    DTIC Science & Technology

    2005-01-01

    intentional Multi - agent System (MAS) approach [10]. While these approaches are functional AIS systems, they lack the ability to reorganize and adapt...extended a multi - agent system with a self- reorganizing architecture to create an autonomous, adaptive information system. Design Our organization-based...goals. An advantage of a multi - agent system using the organization theoretic model is its extensibility. The practical, numerical limits to the

  13. Autonomous Systems, Robotics, and Computing Systems Capability Roadmap: NRC Dialogue

    NASA Technical Reports Server (NTRS)

    Zornetzer, Steve; Gage, Douglas

    2005-01-01

    Contents include the following: Introduction. Process, Mission Drivers, Deliverables, and Interfaces. Autonomy. Crew-Centered and Remote Operations. Integrated Systems Health Management. Autonomous Vehicle Control. Autonomous Process Control. Robotics. Robotics for Solar System Exploration. Robotics for Lunar and Planetary Habitation. Robotics for In-Space Operations. Computing Systems. Conclusion.

  14. Measures of Autonomic Nervous System Regulation

    DTIC Science & Technology

    2011-04-01

    Cortisol Galvanic Skin Response (GSR) Gastro- intestinal Pupillary Response Respiratory Salivary Amylase Vascular Manipulative Body-Based...Salivary Amylase Galvanic Skin Response Vascular Gastrointestinal The ANS Measures Table in Appendix A provides a summary of over fifty tools...Measures of Autonomic Nervous System Regulation Salivary Amylase Measurement

  15. Human resources for health and decentralization policy in the Brazilian health system

    PubMed Central

    2011-01-01

    Background The Brazilian health reform process, following the establishment of the Unified Health System (SUS), has had a strong emphasis on decentralization, with a special focus on financing, management and inter-managerial agreements. Brazil is a federal country and the Ministry of Health (MoH), through the Secretary of Labour Management and Health Education, is responsible for establishing national policy guidelines for health labour management, and also for implementing strategies for the decentralization of management of labour and education in the federal states. This paper assesses whether the process of decentralizing human resources for health (HRH) management and organization to the level of the state and municipal health departments has involved investments in technical, political and financial resources at the national level. Methods The research methods used comprise a survey of HRH managers of states and major municipalities (including capitals) and focus groups with these HRH managers - all by geographic region. The results were obtained by combining survey and focus group data, and also through triangulation with the results of previous research. Results The results of this evaluation showed the evolution policy, previously restricted to the field of 'personnel administration', now expanded to a conceptual model for health labour management and education-- identifying progress, setbacks, critical issues and challenges for the consolidation of the decentralized model for HRH management. The results showed that 76.3% of the health departments have an HRH unit. It was observed that 63.2% have an HRH information system. However, in most health departments, the HRH unit uses only the payroll and administrative records as data sources. Concerning education in health, 67.6% of the HRH managers mentioned existing cooperation with educational and teaching institutions for training and/or specialization of health workers. Among them, specialization courses

  16. Non-Discretionary Access Control for Decentralized Computing Systems

    DTIC Science & Technology

    1977-05-01

    Analysis and Enhancements of Computer Operating Systems, The RISOS Project, Lawrence Livermore Laboratory, Livermore, Ca., NBSIR 76-1041, National Bureau...301-307. 138 <Walter74> Walter , K. G., et al, Primitive Models for Computer Security, Case Western Reserve University, ESD-TR-74-117, HQ...Electronic Systems Division, Hanscom AFB, Ma., 23 January 1974. (NTIS# AD 778467) <Walter75> Walter , K. G., et al., Initial Structured Specifications for

  17. Autonomous microfluidic system for phosphate detection.

    PubMed

    McGraw, Christina M; Stitzel, Shannon E; Cleary, John; Slater, Conor; Diamond, Dermot

    2007-02-28

    Miniaturization of analytical devices through the advent of microfluidics and micro total analysis systems is an important step forward for applications such as medical diagnostics and environmental monitoring. The development of field-deployable instruments requires that the entire system, including all necessary peripheral components, be miniaturized and packaged in a portable device. A sensor for long-term monitoring of phosphate levels has been developed that incorporates sampling, reagent and waste storage, detection, and wireless communication into a complete, miniaturized system. The device employs a low-power detection and communication system, so the entire instrument can operate autonomously for 7 days on a single rechargeable, 12V battery. In addition, integration of a wireless communication device allows the instrument to be controlled and results to be downloaded remotely. This autonomous system has a limit of detection of 0.3mg/L and a linear dynamic range between 0 and 20mg/L.

  18. A Flexible, Open, Decentralized System for Digital Pathology Networks

    PubMed Central

    SMITH, David E.; KUMARAGURUPARAN, Gowri; CHERVENAK, Ann; LEWIS, Anne D.; HYDE, Dallas M.; KESSELMAN, Carl

    2014-01-01

    High-resolution digital imaging is enabling digital archiving and sharing of digitized microscopy slides and new methods for digital pathology. Collaborative research centers, outsourced medical services, and multi-site organizations stand to benefit from sharing pathology data in a digital pathology network. Yet significant technological challenges remain due to the large size and volume of digitized whole slide images. While information systems do exist for managing local pathology laboratories, they tend to be oriented toward narrow clinical use cases or offer closed ecosystems around proprietary formats. Few solutions exist for networking digital pathology operations. Here we present a system architecture and implementation of a digital pathology network and share results from a production system that federates major research centers. PMID:22941985

  19. Questioning the Scholarly Discussion around Decentralization in Turkish Education System

    ERIC Educational Resources Information Center

    Yildiz, Soner Onder

    2016-01-01

    From the beginning of Turkish Republic till date, Turkish Education System (TES) has been steered by a handful of politicians and civil servants, who enjoy maximum centralized authority. Over the years, therefore, centralized management has repeatedly been blamed for the deadlocks hampering progress in the TES. Turkish scholars often seem to find…

  20. Exercise and the autonomic nervous system.

    PubMed

    Fu, Qi; Levine, Benjamin D

    2013-01-01

    The autonomic nervous system plays a crucial role in the cardiovascular response to acute (dynamic) exercise in animals and humans. During exercise, oxygen uptake is a function of the triple-product of heart rate and stroke volume (i.e., cardiac output) and arterial-mixed venous oxygen difference (the Fick principle). The degree to which each of the variables can increase determines maximal oxygen uptake (V˙O2max). Both "central command" and "the exercise pressor reflex" are important in determining the cardiovascular response and the resetting of the arterial baroreflex during exercise to precisely match systemic oxygen delivery with metabolic demand. In general, patients with autonomic disorders have low levels of V˙O2max, indicating reduced physical fitness and exercise capacity. Moreover, the vast majority of the patients have blunted or abnormal cardiovascular response to exercise, especially during maximal exercise. There is now convincing evidence that some of the protective and therapeutic effects of chronic exercise training are related to the impact on the autonomic nervous system. Additionally, training induced improvement in vascular function, blood volume expansion, cardiac remodeling, insulin resistance and renal-adrenal function may also contribute to the protection and treatment of cardiovascular, metabolic and autonomic disorders. Exercise training also improves mental health, helps to prevent depression, and promotes or maintains positive self-esteem. Moderate-intensity exercise at least 30 minutes per day and at least 5 days per week is recommended for the vast majority of people. Supervised exercise training is preferable to maximize function capacity, and may be particularly important for patients with autonomic disorders.

  1. Development of a Commercially Viable, Modular Autonomous Robotic Systems for Converting any Vehicle to Autonomous Control

    NASA Technical Reports Server (NTRS)

    Parish, David W.; Grabbe, Robert D.; Marzwell, Neville I.

    1994-01-01

    A Modular Autonomous Robotic System (MARS), consisting of a modular autonomous vehicle control system that can be retrofit on to any vehicle to convert it to autonomous control and support a modular payload for multiple applications is being developed. The MARS design is scalable, reconfigurable, and cost effective due to the use of modern open system architecture design methodologies, including serial control bus technology to simplify system wiring and enhance scalability. The design is augmented with modular, object oriented (C++) software implementing a hierarchy of five levels of control including teleoperated, continuous guidepath following, periodic guidepath following, absolute position autonomous navigation, and relative position autonomous navigation. The present effort is focused on producing a system that is commercially viable for routine autonomous patrolling of known, semistructured environments, like environmental monitoring of chemical and petroleum refineries, exterior physical security and surveillance, perimeter patrolling, and intrafacility transport applications.

  2. Decentralized high precision telemetry and telecommand system for sounding rockets

    NASA Astrophysics Data System (ADS)

    Heyer, Heinz-Volker; Schmitt, Günter; Pfeuffer, Horst; Voss, Bernhard

    2005-08-01

    TEXUS and MAXUS payloads are currently providing 12 bit analog channel accuracy for their data acquisition chains with different signal conditioning elements such as temperature measurement, strain gauge, pressure measurement channels, and general purpose amplifiers. Transient recording functions are rather seldom as all data is directly transmitted via PCM to the ground station. However, the user requirements are steadily increasing in terms of accuracy, data security, and high data throughput rate with an ever increasing number of telemetry channels. The newly developed Kayser-Threde telemetry and telecommand system CTS 3000 (Compact Telemetry System) fulfils these requirements by providing up to 16 bit accuracy for its analog channels with a sampling rate up to 2 kHz (at this accuracy), on-board transient memory to protect against data loss and provides an integrated telecommand decoder at the same time, reducing the necessary amount of equipment used for instrumentation. The equipment further reduces the necessary effort for refurbishment because of its internal self calibration over the full environment temperature range. On top of its IRIG PCM interface the system is equipped with a USB bus, a well-known and commonly used PC standard high performance interface. This interface is used for configuration, testing, and monitoring of the CTS 3000 providing a simple and easy to use user environment for the new equipment. The paper will introduce the new equipment and will show the application in the TEXUS/MAXUS project.

  3. Autonomous Flight Safety System - Phase III

    NASA Technical Reports Server (NTRS)

    2008-01-01

    The Autonomous Flight Safety System (AFSS) is a joint KSC and Wallops Flight Facility project that uses tracking and attitude data from onboard Global Positioning System (GPS) and inertial measurement unit (IMU) sensors and configurable rule-based algorithms to make flight termination decisions. AFSS objectives are to increase launch capabilities by permitting launches from locations without range safety infrastructure, reduce costs by eliminating some downrange tracking and communication assets, and reduce the reaction time for flight termination decisions.

  4. Decentralized robust nonlinear model predictive controller for unmanned aerial systems

    NASA Astrophysics Data System (ADS)

    Garcia Garreton, Gonzalo A.

    The nonlinear and unsteady nature of aircraft aerodynamics together with limited practical range of controls and state variables make the use of the linear control theory inadequate especially in the presence of external disturbances, such as wind. In the classical approach, aircraft are controlled by multiple inner and outer loops, designed separately and sequentially. For unmanned aerial systems in particular, control technology must evolve to a point where autonomy is extended to the entire mission flight envelope. This requires advanced controllers that have sufficient robustness, track complex trajectories, and use all the vehicles control capabilities at higher levels of accuracy. In this work, a robust nonlinear model predictive controller is designed to command and control an unmanned aerial system to track complex tight trajectories in the presence of internal and external perturbance. The Flight System developed in this work achieves the above performance by using: 1. A nonlinear guidance algorithm that enables the vehicle to follow an arbitrary trajectory shaped by moving points; 2. A formulation that embeds the guidance logic and trajectory information in the aircraft model, avoiding cross coupling and control degradation; 3. An artificial neural network, designed to adaptively estimate and provide aerodynamic and propulsive forces in real-time; and 4. A mixed sensitivity approach that enhances the robustness for a nonlinear model predictive controller overcoming the effect of un-modeled dynamics, external disturbances such as wind, and measurement additive perturbations, such as noise and biases. These elements have been integrated and tested in simulation and with previously stored flight test data and shown to be feasible.

  5. Autonomous microexplosives subsurface tracing system final report.

    SciTech Connect

    Engler, Bruce Phillip; Nogan, John; Melof, Brian Matthew; Uhl, James Eugene; Dulleck, George R., Jr.; Ingram, Brian V.; Grubelich, Mark Charles; Rivas, Raul R.; Cooper, Paul W.; Warpinski, Norman Raymond; Kravitz, Stanley H.

    2004-04-01

    The objective of the autonomous micro-explosive subsurface tracing system is to image the location and geometry of hydraulically induced fractures in subsurface petroleum reservoirs. This system is based on the insertion of a swarm of autonomous micro-explosive packages during the fracturing process, with subsequent triggering of the energetic material to create an array of micro-seismic sources that can be detected and analyzed using existing seismic receiver arrays and analysis software. The project included investigations of energetic mixtures, triggering systems, package size and shape, and seismic output. Given the current absence of any technology capable of such high resolution mapping of subsurface structures, this technology has the potential for major impact on petroleum industry, which spends approximately $1 billion dollar per year on hydraulic fracturing operations in the United States alone.

  6. Fully decentralized control of a soft-bodied robot inspired by true slime mold.

    PubMed

    Umedachi, Takuya; Takeda, Koichi; Nakagaki, Toshiyuki; Kobayashi, Ryo; Ishiguro, Akio

    2010-03-01

    Animals exhibit astoundingly adaptive and supple locomotion under real world constraints. In order to endow robots with similar capabilities, we must implement many degrees of freedom, equivalent to animals, into the robots' bodies. For taming many degrees of freedom, the concept of autonomous decentralized control plays a pivotal role. However a systematic way of designing such autonomous decentralized control system is still missing. Aiming at understanding the principles that underlie animals' locomotion, we have focused on a true slime mold, a primitive living organism, and extracted a design scheme for autonomous decentralized control system. In order to validate this design scheme, this article presents a soft-bodied amoeboid robot inspired by the true slime mold. Significant features of this robot are twofold: (1) the robot has a truly soft and deformable body stemming from real-time tunable springs and protoplasm, the former is used for an outer skin of the body and the latter is to satisfy the law of conservation of mass; and (2) fully decentralized control using coupled oscillators with completely local sensory feedback mechanism is realized by exploiting the long-distance physical interaction between the body parts stemming from the law of conservation of protoplasmic mass. Simulation results show that this robot exhibits highly supple and adaptive locomotion without relying on any hierarchical structure. The results obtained are expected to shed new light on design methodology for autonomous decentralized control system.

  7. Future evolution of distributed systems for smart grid - The challenges and opportunities to using decentralized energy system

    NASA Astrophysics Data System (ADS)

    Konopko, Joanna

    2015-12-01

    A decentralized energy system is a relatively new approach in the power industry. Decentralized energy systems provide promising opportunities for deploying renewable energy sources locally available as well as for expanding access to clean energy services to remote communities. The electricity system of the future must produce and distribute electricity that is reliable and affordable. To accomplish these goals, both the electricity grid and the existing regulatory system must be smarter. In this paper, the major issues and challenges in distributed systems for smart grid are discussed and future trends are presented. The smart grid technologies and distributed generation systems are explored. A general overview of the comparison of the traditional grid and smart grid is also included.

  8. Decentralized scenario-based plug and play MPC for linear systems with multiplicative uncertainties

    NASA Astrophysics Data System (ADS)

    Nehring, Anna; Zhang, Ping

    2017-01-01

    This paper proposes a novel approach to decentralized control with Plug and Play capabilities. Plug and Play allows a flexible addition and removal of subsystems to an existing plant. The proposed approach guarantees stability and robustness to a certain degree for systems with additive disturbances and multiplicative uncertainties. For the controller design, the plant is decomposed into subsystems. The algorithms for adding and removing subsystems are given. By applying the basic idea of scenario-based methods, the proposed approach is less conservative and can handle complex multiplicative uncertainties.

  9. Mission planning for autonomous systems

    NASA Technical Reports Server (NTRS)

    Pearson, G.

    1987-01-01

    Planning is a necessary task for intelligent, adaptive systems operating independently of human controllers. A mission planning system that performs task planning by decomposing a high-level mission objective into subtasks and synthesizing a plan for those tasks at varying levels of abstraction is discussed. Researchers use a blackboard architecture to partition the search space and direct the focus of attention of the planner. Using advanced planning techniques, they can control plan synthesis for the complex planning tasks involved in mission planning.

  10. A low cost concept for data acquisition systems applied to decentralized renewable energy plants.

    PubMed

    Jucá, Sandro C S; Carvalho, Paulo C M; Brito, Fábio T

    2011-01-01

    The present paper describes experiences of the use of monitoring and data acquisition systems (DAS) and proposes a new concept of a low cost DAS applied to decentralized renewable energy (RE) plants with an USB interface. The use of such systems contributes to disseminate these plants, recognizing in real time local energy resources, monitoring energy conversion efficiency and sending information concerning failures. These aspects are important, mainly for developing countries, where decentralized power plants based on renewable sources are in some cases the best option for supplying electricity to rural areas. Nevertheless, the cost of commercial DAS is still a barrier for a greater dissemination of such systems in developing countries. The proposed USB based DAS presents a new dual clock operation philosophy, in which the acquisition system contains two clock sources for parallel information processing from different communication protocols. To ensure the low cost of the DAS and to promote the dissemination of this technology in developing countries, the proposed data acquisition firmware and the software for USB microcontrollers programming is a free and open source software, executable in the Linux and Windows® operating systems.

  11. A Low Cost Concept for Data Acquisition Systems Applied to Decentralized Renewable Energy Plants

    PubMed Central

    Jucá, Sandro C. S.; Carvalho, Paulo C. M.; Brito, Fábio T.

    2011-01-01

    The present paper describes experiences of the use of monitoring and data acquisition systems (DAS) and proposes a new concept of a low cost DAS applied to decentralized renewable energy (RE) plants with an USB interface. The use of such systems contributes to disseminate these plants, recognizing in real time local energy resources, monitoring energy conversion efficiency and sending information concerning failures. These aspects are important, mainly for developing countries, where decentralized power plants based on renewable sources are in some cases the best option for supplying electricity to rural areas. Nevertheless, the cost of commercial DAS is still a barrier for a greater dissemination of such systems in developing countries. The proposed USB based DAS presents a new dual clock operation philosophy, in which the acquisition system contains two clock sources for parallel information processing from different communication protocols. To ensure the low cost of the DAS and to promote the dissemination of this technology in developing countries, the proposed data acquisition firmware and the software for USB microcontrollers programming is a free and open source software, executable in the Linux and Windows® operating systems. PMID:22346600

  12. Decentralized robust frequency control for power systems subject to wind power variability

    NASA Astrophysics Data System (ADS)

    Liu, Juhua

    As the penetration of wind energy generation increases in electric power systems, the frequency performance degrades mainly for two reasons. First, the intermittency of wind power introduces additional generation-load imbalance in the system, causing frequency to deviate from nominal values. Second, modern wind turbine generators are often decoupled from the grid by power electronics, making the wind turbines contribute no inertia to the grid. When more conventional generation is displaced by such wind generation, the total system inertia will decrease and the grid is more susceptible to generation-load imbalance. Therefore, frequency control must be revisited and enhanced in order to accommodate large-scale integration of wind energy. This dissertation mainly concerns the re-design of generator compensators to improve frequency performance of power systems when the penetration of wind power is high. Hinfinity methods can be used to synthesize controllers to achieve stability and robust performance in the presence disturbances. However, standard Hinfinity methods tend to produce complex controllers when the order of the system is high. Furthermore, when standard Hinfinity methods are continued with a naive decentralized control design, the resulting decentralized controllers may compete against each other and lead to instability. Therefore, we develop a passivity-based decentralized control framework for power system frequency control. A storage function is derived from the entropy of individual generators. Tellegen's theorem is invoked to derive the storage function for the entire power network. With this storage function, the power network is shown to be passive with respect to a supply rate, which is the sum of decentralized input-output products. Stability can then be assured when passive controllers are connected in negative feedback interconnection to the system. Proportional-integral-derivative (PID) controllers with positive gains are passive controllers

  13. Inertial Navigation Theory (Autonomous Systems)

    DTIC Science & Technology

    1974-12-17

    TRANSLITERATION SYSTEM Block Ita lie Transliteration Block Ita lie Transliteration A a A a A. a P p F R, r 5 0 B $ B, b C c C S, s B ■ B » v. V T...component meters, structurally connected into a single block so that their axes of sensitivity form an orthogonal trihedron, are employed...the newtonometers are located, may be taken as it. 1.4.3. General principles of constructing inertial naviga- tional systems. A typical block diagram

  14. Why Computer-Based Systems Should be Autonomic

    NASA Technical Reports Server (NTRS)

    Sterritt, Roy; Hinchey, Mike

    2005-01-01

    The objective of this paper is to discuss why computer-based systems should be autonomic, where autonomicity implies self-managing, often conceptualized in terms of being self-configuring, self-healing, self-optimizing, self-protecting and self-aware. We look at motivations for autonomicity, examine how more and more systems are exhibiting autonomic behavior, and finally look at future directions.

  15. System for autonomous monitoring of bioagents

    SciTech Connect

    Langlois, Richard G.; Milanovich, Fred P.; Colston, Jr, Billy W.; Brown, Steve B.; Masquelier, Don A.; Mariella, Jr., Raymond P.; Venkateswaran, Kodomudi

    2015-06-09

    An autonomous monitoring system for monitoring for bioagents. A collector gathers the air, water, soil, or substance being monitored. A sample preparation means for preparing a sample is operatively connected to the collector. A detector for detecting the bioagents in the sample is operatively connected to the sample preparation means. One embodiment of the present invention includes confirmation means for confirming the bioagents in the sample.

  16. Lethality and Autonomous Systems: The Roboticist Demographic

    DTIC Science & Technology

    2008-01-01

    humanoid (22%), and other (23%); 9) Media Influence: only 18% said that media had a strong or very strong influence on their attitude to robots ...and whether certain emotions would be appropriate in a military robot . The Wars question was worded as follows: To what extent do you think ...Lethality and Autonomous Systems: The Roboticist Demographic Lilia V. Moshkina and Ronald C. Arkin Mobile Robot Laboratory, College of

  17. Autonomous omnidirectional spacecraft antenna system

    NASA Technical Reports Server (NTRS)

    Taylor, T. H.

    1983-01-01

    The development of a low gain Electronically Switchable Spherical Array Antenna is discussed. This antenna provides roughly 7 dBic gain for receive/transmit operation between user satellites and the Tracking and Data Relay Satellite System. When used as a pair, the antenna provides spherical coverage. The antenna was tested in its primary operating modes: directed beam, retrodirective, and Omnidirectional.

  18. Decentralized System Identification Using Stochastic Subspace Identification for Wireless Sensor Networks

    PubMed Central

    Cho, Soojin; Park, Jong-Woong; Sim, Sung-Han

    2015-01-01

    Wireless sensor networks (WSNs) facilitate a new paradigm to structural identification and monitoring for civil infrastructure. Conventional structural monitoring systems based on wired sensors and centralized data acquisition systems are costly for installation as well as maintenance. WSNs have emerged as a technology that can overcome such difficulties, making deployment of a dense array of sensors on large civil structures both feasible and economical. However, as opposed to wired sensor networks in which centralized data acquisition and processing is common practice, WSNs require decentralized computing algorithms to reduce data transmission due to the limitation associated with wireless communication. In this paper, the stochastic subspace identification (SSI) technique is selected for system identification, and SSI-based decentralized system identification (SDSI) is proposed to be implemented in a WSN composed of Imote2 wireless sensors that measure acceleration. The SDSI is tightly scheduled in the hierarchical WSN, and its performance is experimentally verified in a laboratory test using a 5-story shear building model. PMID:25856325

  19. Decentralized Systems.

    DTIC Science & Technology

    1980-12-31

    already enquired if th process is read), to receive I I II I I Ia APPENDIX 6 TEST PROGRAMS Sieve The sieve of Eratosthenes is implemented as a chain...sending actor is nondeterministic. j Figure 2-1 shows how these concepts can be used to define an imple- mentation of the Sieve of Eratosthenes . This...of this perfor- Sr tance measure for the programs sampled. The programs executed included the Sieve of Eratosthenes described in section 2.1, a

  20. Alpha: A real-time decentralized operating system for mission-oriented system integration and operation

    NASA Technical Reports Server (NTRS)

    Jensen, E. Douglas

    1988-01-01

    Alpha is a new kind of operating system that is unique in two highly significant ways. First, it is decentralized transparently providing reliable resource management across physically dispersed nodes, so that distributed applications programming can be done largely as though it were centralized. And second, it provides comprehensive, high technology support for real-time system integration and operation, an application area which consists predominately of aperiodic activities having critical time constraints such as deadlines. Alpha is extremely adaptable so that it can be easily optimized for a wide range of problem-specific functionality, performance, and cost. Alpha is the first systems effort of the Archons Project, and the prototype was created at Carnegie-Mellon University directly on modified Sun multiprocessor workstation hardware. It has been demonstrated with a real-time C(sup 2) application. Continuing research is leading to a series of enhanced follow-ons to Alpha; these are portable but initially hosted on Concurrent's MASSCOMP line of multiprocessor products.

  1. Autonomous grain combine control system

    DOEpatents

    Hoskinson, Reed L.; Kenney, Kevin L.; Lucas, James R.; Prickel, Marvin A.

    2013-06-25

    A system for controlling a grain combine having a rotor/cylinder, a sieve, a fan, a concave, a feeder, a header, an engine, and a control system. The feeder of the grain combine is engaged and the header is lowered. A separator loss target, engine load target, and a sieve loss target are selected. Grain is harvested with the lowered header passing the grain through the engaged feeder. Separator loss, sieve loss, engine load and ground speed of the grain combine are continuously monitored during the harvesting. If the monitored separator loss exceeds the selected separator loss target, the speed of the rotor/cylinder, the concave setting, the engine load target, or a combination thereof is adjusted. If the monitored sieve loss exceeds the selected sieve loss target, the speed of the fan, the size of the sieve openings, or the engine load target is adjusted.

  2. 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

  3. Decentralized energy studies: bibliography

    SciTech Connect

    Ohi, J.M.; Unseld, C.T.; Levine, A.; Silversmith, J.A.

    1980-05-01

    This bibliography is a compilation of literature on decentralized energy systems. It is arranged according to topical (e.g., lifestyle and values, institutions, and economics) and geographical scale to facilitate quick reference to specific areas of interest. Also included are articles by and about Amory B. Lovins who has played a pivotal role in making energy decentralization an important topic of national debate. Periodicals, other bibliographies, and directories are also listed.

  4. Seizures and brain regulatory systems: Consciousness, sleep, and autonomic systems

    PubMed Central

    Sedigh-Sarvestani, Madineh; Blumenfeld, Hal; Loddenkemper, Tobias; Bateman, Lisa M

    2014-01-01

    Research into the physiological underpinnings of epilepsy has revealed reciprocal relationships between seizures and the activity of several regulatory systems in the brain, including those governing sleep, consciousness and autonomic functions. This review highlights recent progress in understanding and utilizing the relationships between seizures and the arousal or consciousness system, the sleep-wake and associated circadian system, and the central autonomic network. PMID:25233249

  5. Agent Technology, Complex Adaptive Systems, and Autonomic Systems: Their Relationships

    NASA Technical Reports Server (NTRS)

    Truszkowski, Walt; Rash, James; Rouff, Chistopher; Hincheny, Mike

    2004-01-01

    To reduce the cost of future spaceflight missions and to perform new science, NASA has been investigating autonomous ground and space flight systems. These goals of cost reduction have been further complicated by nanosatellites for future science data-gathering which will have large communications delays and at times be out of contact with ground control for extended periods of time. This paper describes two prototype agent-based systems, the Lights-out Ground Operations System (LOGOS) and the Agent Concept Testbed (ACT), and their autonomic properties that were developed at NASA Goddard Space Flight Center (GSFC) to demonstrate autonomous operations of future space flight missions. The paper discusses the architecture of the two agent-based systems, operational scenarios of both, and the two systems autonomic properties.

  6. Decentralized Adaptive Neural Output-Feedback DSC for Switched Large-Scale Nonlinear Systems.

    PubMed

    Long, Lijun; Zhao, Jun

    2016-03-08

    In this paper, for a class of switched large-scale uncertain nonlinear systems with unknown control coefficients and unmeasurable states, a switched-dynamic-surface-based decentralized adaptive neural output-feedback control approach is developed. The approach proposed extends the classical dynamic surface control (DSC) technique for nonswitched version to switched version by designing switched first-order filters, which overcomes the problem of multiple ``explosion of complexity.'' Also, a dual common coordinates transformation of all subsystems is exploited to avoid individual coordinate transformations for subsystems that are required when applying the backstepping recursive design scheme. Nussbaum-type functions are utilized to handle the unknown control coefficients, and a switched neural network observer is constructed to estimate the unmeasurable states. Combining with the average dwell time method and backstepping and the DSC technique, decentralized adaptive neural controllers of subsystems are explicitly designed. It is proved that the approach provided can guarantee the semiglobal uniformly ultimately boundedness for all the signals in the closed-loop system under a class of switching signals with average dwell time, and the tracking errors to a small neighborhood of the origin. A two inverted pendulums system is provided to demonstrate the effectiveness of the method proposed.

  7. Decentralized Energy Management System for Networked Microgrids in Grid-connected and Islanded Modes

    SciTech Connect

    Wang, Zhaoyu; Chen, Bokan; Wang, Jianhui; Kim, Jinho

    2015-06-17

    This paper proposes a decentralized energy management system (EMS) for the coordinated operation of networked Microgirds (MGs) in a distribution system. In the grid-connected mode, the distribution network operator (DNO) and each MG are considered as distinct entities with individual objectives to minimize their own operation costs. It is assumed that both dispatchable and renewable energy source (RES)-based distributed generators (DGs) exist in the distribution network and the networked MGs. In order to coordinate the operation of all entities, we apply a decentralized bi-level algorithm to solve the problem with the first level to conduct negotiations among all entities and the second level to update the non-converging penalties. In the islanded mode, the objective of each MG is to maintain a reliable power supply to its customers. In order to take into account the uncertainties of DG outputs and load consumption, we formulate the problems as two-stage stochastic programs. The first stage is to determine base generation setpoints based on the forecasts and the second stage is to adjust the generation outputs based on the realized scenarios. Case studies of a distribution system with networked MGs demonstrate the effectiveness of the proposed methodology in both grid-connected and islanded modes.

  8. Distributed and decentralized state estimation in gas networks as distributed parameter systems.

    PubMed

    Ahmadian Behrooz, Hesam; Boozarjomehry, R Bozorgmehry

    2015-09-01

    In this paper, a framework for distributed and decentralized state estimation in high-pressure and long-distance gas transmission networks (GTNs) is proposed. The non-isothermal model of the plant including mass, momentum and energy balance equations are used to simulate the dynamic behavior. Due to several disadvantages of implementing a centralized Kalman filter for large-scale systems, the continuous/discrete form of extended Kalman filter for distributed and decentralized estimation (DDE) has been extended for these systems. Accordingly, the global model is decomposed into several subsystems, called local models. Some heuristic rules are suggested for system decomposition in gas pipeline networks. In the construction of local models, due to the existence of common states and interconnections among the subsystems, the assimilation and prediction steps of the Kalman filter are modified to take the overlapping and external states into account. However, dynamic Riccati equation for each subsystem is constructed based on the local model, which introduces a maximum error of 5% in the estimated standard deviation of the states in the benchmarks studied in this paper. The performance of the proposed methodology has been shown based on the comparison of its accuracy and computational demands against their counterparts in centralized Kalman filter for two viable benchmarks. In a real life network, it is shown that while the accuracy is not significantly decreased, the real-time factor of the state estimation is increased by a factor of 10.

  9. The autonomic nervous system and perinatal metabolism.

    PubMed

    Milner, R D; De Gasparo, M

    1981-01-01

    The development of the autonomic nervous system in relation to perinatal metabolism is reviewed with particular attention given to the adipocyte, hepatocyte and the A and B cells of the islets of Langerhans. Adrenergic receptors develop in the B cell independently of normal innervation and by the time of birth, in most species studied, the pancreas, liver and adipose tissue respond appropriately to autonomic signals. Birth is associated with a huge surge in circulating catecholamines which is probably responsible for the early postnatal rise in free fatty acids and glucagon concentrations in plasma. beta-Blocking drugs such as propranolol have an adverse effect on fetal growth and neonatal metabolism, being responsible for hypoglycemia and for impairing the thermogenic response to cold exposure. beta-Mimetic drugs are commonly used to prevent premature labour and may help the fetus in other ways, for example, by improving the placental blood supply and the delivery of nutrients by increasing maternal fat and carbohydrate mobilization.

  10. Autonomic complications following central nervous system injury.

    PubMed

    Baguley, Ian J

    2008-11-01

    Severe sympathetic overactivity occurs in several conditions that are recognized as medical emergencies. Following central nervous system injury, a small proportion of individuals develop severe paroxysmal sympathetic and motor overactivity. These individuals have a high attendant risk of unnecessary secondary morbidity. Following acquired brain injury, the syndrome is known by a number of names including dysautonomia and sympathetic storm. Dysautonomia is currently a diagnosis of exclusion and often goes unrecognized. The evidence base for management is almost entirely anecdotal in nature; there has been little structured or prospective research. In contrast, the evidence base for autonomic dysreflexia following spinal cord injury is much stronger, with level 1 evidence for many treatment interventions. This review presents a current understanding of each condition and suggests simple management protocols. With the marked disparity in the literature for the two conditions, the main focus is on the literature for dysautonomia. The similarity between these two conditions and the other autonomic emergency conditions is discussed.

  11. Autonomous Flight Safety System Road Test

    NASA Technical Reports Server (NTRS)

    Simpson, James C.; Zoemer, Roger D.; Forney, Chris S.

    2005-01-01

    On February 3, 2005, Kennedy Space Center (KSC) conducted the first Autonomous Flight Safety System (AFSS) test on a moving vehicle -- a van driven around the KSC industrial area. A subset of the Phase III design was used consisting of a single computer, GPS receiver, and UPS antenna. The description and results of this road test are described in this report.AFSS is a joint KSC and Wallops Flight Facility project that is in its third phase of development. AFSS is an independent subsystem intended for use with Expendable Launch Vehicles that uses tracking data from redundant onboard sensors to autonomously make flight termination decisions using software-based rules implemented on redundant flight processors. The goals of this project are to increase capabilities by allowing launches from locations that do not have or cannot afford extensive ground-based range safety assets, to decrease range costs, and to decrease reaction time for special situations.

  12. Development of an Autonomous Pathogen Detection System

    SciTech Connect

    Langlosi, S.; Brown, S.; Colston, B.; Jones, L.; Masquelier, D.; Meyer, P.; McBride, M.; Nasarabad, S.; Ramponi, A.J.; Venkatseswarm, K.; Milanovich, F.

    2000-10-12

    An Autonomous Pathogen Detection System (APDS) is being designed and evaluated for use in domestic counter-terrorism. The goal is a fully automated system that utilizes both flow cytometry and polymerase chain reaction (PCR) to continuously monitor the air for BW pathogens in major buildings or high profile events. A version 1 APDS system consisting of an aerosol collector, a sample preparation subsystem, and a flow cytometer for detecting the antibody-labeled target organisms has been completed and evaluated. Improved modules are under development for a version 2 APDS including a Lawrence Livermore National Laboratory-designed aerosol preconcentrator, a multiplex flow cytometer, and a flow-through PCR detector.

  13. BISMARC: a biologically inspired system for map-based autonomous rover control.

    PubMed

    Huntsberger, Terry; Rose, John

    1998-10-01

    As the complexity of the missions to planetary surfaces increases, so too does the need for autonomous rover systems. This need is complicated by the power, mass and computer storage restrictions on such systems (Miller, D. P. (1992). Reducing software mass through behaviour control. In Proceedings SPIE conference on cooperative intelligent robotics in space III (Vol. 1829, pp. 472-475, 1992). Boston, MA. To address these problems, we have recently developed a system called BISMARC (Biologically Inspired System for Map-based Autonomous Rover Control) for planetary missions involving multiple small, lightweight surface rovers (Huntsberger, T. L. (1997). Autonomous multirover system for complex planetary retrieval operations. In P. S. Schenker, and G. T. McKee (Eds.), Proceedings SPIE symposium on sensor fusion and decentralized control in autonomous robotic systems (pp. 221-227). Pittsburgh, PA). BISMARC is capable of cooperative planetary surface retrieval operations such as a multiple cache recovery mission to Mars. The system employs autonomous navigation techniques, behavior-based control for surface retrieval operations, and an action selection mechanism based on a modified form of free flow hierarchy (Rosenblatt, J. K. and Payton, D. W. (1989). A fine-grained alternative to the subsumption architecture for mobile robot control. In Proceedings IEEE/INNS joint conference on neural networks (pp. 317-324). Washington, DC). This paper primarily describes the navigation and map-mapping subsystems of BISMARC. They are inspired by some recent studies of London taxi drivers indicating that the right hippocampal region of the brain is activated for path planning but not for landmark identification (Maguire, E. A. et al. (1997). Recalling routes around London: activation of the right hippocampus in taxi drivers. Journal of Neuroscience, 17(18), 7103-7110). We also report the results of some experimental studies of simulated navigation in planetary environments.

  14. Decentralized PID controller for TITO systems using characteristic ratio assignment with an experimental application.

    PubMed

    Hajare, V D; Patre, B M

    2015-11-01

    This paper presents a decentralized PID controller design method for two input two output (TITO) systems with time delay using characteristic ratio assignment (CRA) method. The ability of CRA method to design controller for desired transient response has been explored for TITO systems. The design methodology uses an ideal decoupler to reduce the interaction. Each decoupled subsystem is reduced to first order plus dead time (FOPDT) model to design independent diagonal controllers. Based on specified overshoot and settling time, the controller parameters are computed using CRA method. To verify performance of the proposed controller, two benchmark simulation examples are presented. To demonstrate applicability of the proposed controller, experimentation is performed on real life interacting coupled tank level system.

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

    NASA Astrophysics Data System (ADS)

    Zhang, Jinxiu; Zhang, Zhigang; Wu, Baolin

    2016-10-01

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

  16. Verification of Autonomous Systems for Space Applications

    NASA Technical Reports Server (NTRS)

    Brat, G.; Denney, E.; Giannakopoulou, D.; Frank, J.; Jonsson, A.

    2006-01-01

    Autonomous software, especially if it is based on model, can play an important role in future space applications. For example, it can help streamline ground operations, or, assist in autonomous rendezvous and docking operations, or even, help recover from problems (e.g., planners can be used to explore the space of recovery actions for a power subsystem and implement a solution without (or with minimal) human intervention). In general, the exploration capabilities of model-based systems give them great flexibility. Unfortunately, it also makes them unpredictable to our human eyes, both in terms of their execution and their verification. The traditional verification techniques are inadequate for these systems since they are mostly based on testing, which implies a very limited exploration of their behavioral space. In our work, we explore how advanced V&V techniques, such as static analysis, model checking, and compositional verification, can be used to gain trust in model-based systems. We also describe how synthesis can be used in the context of system reconfiguration and in the context of verification.

  17. Physiology of the Autonomic Nervous System

    PubMed Central

    2007-01-01

    This manuscript discusses the physiology of the autonomic nervous system (ANS). The following topics are presented: regulation of activity; efferent pathways; sympathetic and parasympathetic divisions; neurotransmitters, their receptors and the termination of their activity; functions of the ANS; and the adrenal medullae. In addition, the application of this material to the practice of pharmacy is of special interest. Two case studies regarding insecticide poisoning and pheochromocytoma are included. The ANS and the accompanying case studies are discussed over 5 lectures and 2 recitation sections during a 2-semester course in Human Physiology. The students are in the first-professional year of the doctor of pharmacy program. PMID:17786266

  18. Malicious Hubs: Detecting Abnormally Malicious Autonomous Systems

    SciTech Connect

    Kalafut, Andrew J.; Shue, Craig A; Gupta, Prof. Minaxi

    2010-01-01

    While many attacks are distributed across botnets, investigators and network operators have recently targeted malicious networks through high profile autonomous system (AS) de-peerings and network shut-downs. In this paper, we explore whether some ASes indeed are safe havens for malicious activity. We look for ISPs and ASes that exhibit disproportionately high malicious behavior using 12 popular blacklists. We find that some ASes have over 80% of their routable IP address space blacklisted and others account for large fractions of blacklisted IPs. Overall, we conclude that examining malicious activity at the AS granularity can unearth networks with lax security or those that harbor cybercrime.

  19. Decentralized neural identifier and control for nonlinear systems based on extended Kalman filter.

    PubMed

    Castañeda, Carlos E; Esquivel, P

    2012-07-01

    A time-varying learning algorithm for recurrent high order neural network in order to identify and control nonlinear systems which integrates the use of a statistical framework is proposed. The learning algorithm is based in the extended Kalman filter, where the associated state and measurement noises covariance matrices are composed by the coupled variance between the plant states. The formulation allows identification of interactions associate between plant state and the neural convergence. Furthermore, a sliding window-based method for dynamical modeling of nonstationary systems is presented to improve the neural identification in the proposed methodology. The efficiency and accuracy of the proposed method is assessed to a five degree of freedom (DOF) robot manipulator where based on the time-varying neural identifier model, the decentralized discrete-time block control and sliding mode techniques are used to design independent controllers and develop the trajectory tracking for each DOF.

  20. Decentralized Observer with a Consensus Filter for Distributed Discrete-Time Linear Systems

    NASA Technical Reports Server (NTRS)

    Acikmese, Behcet; Mandic, Milan

    2011-01-01

    This paper presents a decentralized observer with a consensus filter for the state observation of a discrete-time linear distributed systems. In this setup, each agent in the distributed system has an observer with a model of the plant that utilizes the set of locally available measurements, which may not make the full plant state detectable. This lack of detectability is overcome by utilizing a consensus filter that blends the state estimate of each agent with its neighbors' estimates. We assume that the communication graph is connected for all times as well as the sensing graph. It is proven that the state estimates of the proposed observer asymptotically converge to the actual plant states under arbitrarily changing, but connected, communication and sensing topologies. As a byproduct of this research, we also obtained a result on the location of eigenvalues, the spectrum, of the Laplacian for a family of graphs with self-loops.

  1. Visual navigation system for autonomous indoor blimps

    NASA Astrophysics Data System (ADS)

    Campos, Mario F.; de Souza Coelho, Lucio

    1999-07-01

    Autonomous dirigibles - aerial robots that are a blimp controlled by computer based on information gathered by sensors - are a new and promising research field in Robotics, offering several original work opportunities. One of them is the study of visual navigation of UAVs. In the work described in this paper, a Computer Vision and Control system was developed to perform automatically very simple navigation task for a small indoor blimp. The vision system is able to track artificial visual beacons - objects with known geometrical properties - and from them a geometrical methodology can extract information about orientation of the blimp. The tracking of natural landmarks is also a possibility for the vision technique developed. The control system uses that data to keep the dirigible on a programmed orientation. Experimental results showing the correct and efficient functioning of the system are shown and have your implications and future possibilities discussed.

  2. The MAP Autonomous Mission Control System

    NASA Technical Reports Server (NTRS)

    Breed, Juile; Coyle, Steven; Blahut, Kevin; Dent, Carolyn; Shendock, Robert; Rowe, Roger

    2000-01-01

    The Microwave Anisotropy Probe (MAP) mission is the second mission in NASA's Office of Space Science low-cost, Medium-class Explorers (MIDEX) program. The Explorers Program is designed to accomplish frequent, low cost, high quality space science investigations utilizing innovative, streamlined, efficient management, design and operations approaches. The MAP spacecraft will produce an accurate full-sky map of the cosmic microwave background temperature fluctuations with high sensitivity and angular resolution. The MAP spacecraft is planned for launch in early 2001, and will be staffed by only single-shift operations. During the rest of the time the spacecraft must be operated autonomously, with personnel available only on an on-call basis. Four (4) innovations will work cooperatively to enable a significant reduction in operations costs for the MAP spacecraft. First, the use of a common ground system for Spacecraft Integration and Test (I&T) as well as Operations. Second, the use of Finite State Modeling for intelligent autonomy. Third, the integration of a graphical planning engine to drive the autonomous systems without an intermediate manual step. And fourth, the ability for distributed operations via Web and pager access.

  3. Autonomic nervous system dysregulation in pediatric hypertension.

    PubMed

    Feber, Janusz; Ruzicka, Marcel; Geier, Pavel; Litwin, Mieczyslaw

    2014-05-01

    Historically, primary hypertension (HTN) has been prevalent typically in adults. Recent data however, suggests an increasing number of children diagnosed with primary HTN, mainly in the setting of obesity. One of the factors considered in the etiology of HTN is the autonomous nervous system, namely its dysregulation. In the past, the sympathetic nervous system (SNS) was regarded as a system engaged mostly in buffering major acute changes in blood pressure (BP), in response to physical and emotional stressors. Recent evidence suggests that the SNS plays a much broader role in the regulation of BP, including the development and maintenance of sustained HTN by a chronically elevated central sympathetic tone in adults and children with central/visceral obesity. Consequently, attempts have been made to reduce the SNS hyperactivity, in order to intervene early in the course of the disease and prevent HTN-related complications later in life.

  4. Seizures and brain regulatory systems: consciousness, sleep, and autonomic systems.

    PubMed

    Sedigh-Sarvestani, Madineh; Blumenfeld, Hal; Loddenkemper, Tobias; Bateman, Lisa M

    2015-06-01

    Research into the physiologic underpinnings of epilepsy has revealed reciprocal relationships between seizures and the activity of several regulatory systems in the brain. This review highlights recent progress in understanding and using the relationships between seizures and the arousal or consciousness system, the sleep-wake and associated circadian system, and the central autonomic network.

  5. A Proposal of Autonomous Robotic Systems Educative Environment

    NASA Astrophysics Data System (ADS)

    Ierache, Jorge; Garcia-Martinez, Ramón; de Giusti, Armando

    This work presents our experiences in the implementation of a laboratory of autonomous robotic systems applied to the training of beginner and advanced students doing a degree course in Computer Engineering., taking into account the specific technologies, robots, autonomous toys, and programming languages. They provide a strategic opportunity for human resources formation by involving different aspects which range from the specification elaboration, modeling, software development and implementation and testing of an autonomous robotic system.

  6. Intelligent data reduction for autonomous power systems

    NASA Technical Reports Server (NTRS)

    Floyd, Stephen A.

    1988-01-01

    Since 1984 Marshall Space Flight Center was actively engaged in research and development concerning autonomous power systems. Much of the work in this domain has dealt with the development and application of knowledge-based or expert systems to perform tasks previously accomplished only through intensive human involvement. One such task is the health status monitoring of electrical power systems. Such monitoring is a manpower intensive task which is vital to mission success. The Hubble Space Telescope testbed and its associated Nickel Cadmium Battery Expert System (NICBES) were designated as the system on which the initial proof of concept for intelligent power system monitoing will be established. The key function performed by an engineer engaged in system monitoring is to analyze the raw telemetry data and identify from the whole only those elements which can be considered significant. This function requires engineering expertise on the functionality of the system, the mode of operation and the efficient and effective reading of the telemetry data. Application of this expertise to extract the significant components of the data is referred to as data reduction. Such a function possesses characteristics which make it a prime candidate for the application of knowledge-based systems' technologies. Such applications are investigated and recommendations are offered for the development of intelligent data reduction systems.

  7. An innovative integrated system utilizing solar energy as power for the treatment of decentralized wastewater.

    PubMed

    Han, Changfu; Liu, Junxin; Liang, Hanwen; Guo, Xuesong; Li, Lin

    2013-02-01

    This article reports an innovative integrated system utilizing solar energy as power for decentralized wastewater treatment, which consists of an oxidation ditch with double channels and a photovoltaic (PV) system without a storage battery. Because the system operates without a storage battery, which can reduce the cost of the PV system, the solar radiation intensity affects the amount of power output from the PV system. To ensure that the power output is sufficient in all different weather conditions, the solar radiation intensity of 78 W/m2 with 95% confidence interval was defined as a threshold of power output for the PV system according to the monitoring results in this study, and a step power output mode was used to utilize the solar energy as well as possible. The oxidation ditch driven by the PV system without storage battery ran during the day and stopped at night. Therefore, anaerobic, anoxic and aerobic conditions could periodically appear in the oxidation ditch, which was favorable to nitrogen and phosphate removal from the wastewater. The experimental results showed that the system was efficient, achieving average removal efficiencies of 88% COD, 98% NH4+-N, 70% TN and 83% TP, under the loading rates of 140 mg COD/(g MLSS x day), 32 mg NH4+-N/(g MLSS x day), 44 mg TN/(g MLSS x day) and 5 mg TP/(g MLSS x day).

  8. Decentralized Feedback Controllers for Exponential Stabilization of Hybrid Periodic Orbits: Application to Robotic Walking*

    PubMed Central

    Hamed, Kaveh Akbari; Gregg, Robert D.

    2016-01-01

    This paper presents a systematic algorithm to design time-invariant decentralized feedback controllers to exponentially stabilize periodic orbits for a class of hybrid dynamical systems arising from bipedal walking. The algorithm assumes a class of parameterized and nonlinear decentralized feedback controllers which coordinate lower-dimensional hybrid subsystems based on a common phasing variable. The exponential stabilization problem is translated into an iterative sequence of optimization problems involving bilinear and linear matrix inequalities, which can be easily solved with available software packages. A set of sufficient conditions for the convergence of the iterative algorithm to a stabilizing decentralized feedback control solution is presented. The power of the algorithm is demonstrated by designing a set of local nonlinear controllers that cooperatively produce stable walking for a 3D autonomous biped with 9 degrees of freedom, 3 degrees of underactuation, and a decentralization scheme motivated by amputee locomotion with a transpelvic prosthetic leg. PMID:27990059

  9. Computation and design of autonomous intelligent systems

    NASA Astrophysics Data System (ADS)

    Fry, Robert L.

    2008-04-01

    This paper describes a theory of intelligent systems and its reduction to engineering practice. The theory is based on a broader theory of computation wherein information and control are defined within the subjective frame of a system. At its most primitive level, the theory describes what it computationally means to both ask and answer questions which, like traditional logic, are also Boolean. The logic of questions describes the subjective rules of computation that are objective in the sense that all the described systems operate according to its principles. Therefore, all systems are autonomous by construct. These systems include thermodynamic, communication, and intelligent systems. Although interesting, the important practical consequence is that the engineering framework for intelligent systems can borrow efficient constructs and methodologies from both thermodynamics and information theory. Thermodynamics provides the Carnot cycle which describes intelligence dynamics when operating in the refrigeration mode. It also provides the principle of maximum entropy. Information theory has recently provided the important concept of dual-matching useful for the design of efficient intelligent systems. The reverse engineered model of computation by pyramidal neurons agrees well with biology and offers a simple and powerful exemplar of basic engineering concepts.

  10. The nature of the autonomic dysfunction in multiple system atrophy

    NASA Technical Reports Server (NTRS)

    Parikh, Samir M.; Diedrich, Andre; Biaggioni, Italo; Robertson, David

    2002-01-01

    The concept that multiple system atrophy (MSA, Shy-Drager syndrome) is a disorder of the autonomic nervous system is several decades old. While there has been renewed interest in the movement disorder associated with MSA, two recent consensus statements confirm the centrality of the autonomic disorder to the diagnosis. Here, we reexamine the autonomic pathophysiology in MSA. Whereas MSA is often thought of as "autonomic failure", new evidence indicates substantial persistence of functioning sympathetic and parasympathetic nerves even in clinically advanced disease. These findings help explain some of the previously poorly understood features of MSA. Recognition that MSA entails persistent, constitutive autonomic tone requires a significant revision of our concepts of its diagnosis and therapy. We will review recent evidence bearing on autonomic tone in MSA and discuss their therapeutic implications, particularly in terms of the possible development of a bionic baroreflex for better control of blood pressure.

  11. Autonomous Formations of Multi-Agent Systems

    NASA Technical Reports Server (NTRS)

    Dhali, Sanjana; Joshi, Suresh M.

    2013-01-01

    Autonomous formation control of multi-agent dynamic systems has a number of applications that include ground-based and aerial robots and satellite formations. For air vehicles, formation flight ("flocking") has the potential to significantly increase airspace utilization as well as fuel efficiency. This presentation addresses two main problems in multi-agent formations: optimal role assignment to minimize the total cost (e.g., combined distance traveled by all agents); and maintaining formation geometry during flock motion. The Kuhn-Munkres ("Hungarian") algorithm is used for optimal assignment, and consensus-based leader-follower type control architecture is used to maintain formation shape despite the leader s independent movements. The methods are demonstrated by animated simulations.

  12. Modular control systems for teleoperated and autonomous mobile robots

    NASA Astrophysics Data System (ADS)

    Kadonoff, Mark B.; Parish, David W.

    1995-01-01

    This paper will discuss components of a modular hardware and software architecture for mobile robots that supports both teleoperation and autonomous control. The Modular Autonomous Robot System architecture enables rapid development of control systems for unmanned vehicles for a wide variety of commercial and military applications.

  13. From Automation to Autonomy-Trends Towards Autonomous Combat Systems

    DTIC Science & Technology

    2000-04-01

    UNCLASSIFIED Defense Technical Information Center Compilation Part Notice ADPO10300 TITLE: From Automation to Autonomy-Trends Towards Autonomous ...Systems Concepts and Integration. [les Avancees en concepts systemes pour vehicules et en integration] To order the complete compilation report, use...part numbers comprise the compilation report: ADPO10300 thru ADP010339 UNCLASSIFIED K3-1 FROM AUTOMATION TO AUTONOMY -TRENDS TOWARDS AUTONOMOUS

  14. Networks for Autonomous Formation Flying Satellite Systems

    NASA Technical Reports Server (NTRS)

    Knoblock, Eric J.; Konangi, Vijay K.; Wallett, Thomas M.; Bhasin, Kul B.

    2001-01-01

    The performance of three communications networks to support autonomous multi-spacecraft formation flying systems is presented. All systems are comprised of a ten-satellite formation arranged in a star topology, with one of the satellites designated as the central or "mother ship." All data is routed through the mother ship to the terrestrial network. The first system uses a TCP/lP over ATM protocol architecture within the formation the second system uses the IEEE 802.11 protocol architecture within the formation and the last system uses both of the previous architectures with a constellation of geosynchronous satellites serving as an intermediate point-of-contact between the formation and the terrestrial network. The simulations consist of file transfers using either the File Transfer Protocol (FTP) or the Simple Automatic File Exchange (SAFE) Protocol. The results compare the IF queuing delay, and IP processing delay at the mother ship as well as application-level round-trip time for both systems, In all cases, using IEEE 802.11 within the formation yields less delay. Also, the throughput exhibited by SAFE is better than FTP.

  15. A Decentralized Multivariable Robust Adaptive Voltage and Speed Regulator for Large-Scale Power Systems

    NASA Astrophysics Data System (ADS)

    Okou, Francis A.; Akhrif, Ouassima; Dessaint, Louis A.; Bouchard, Derrick

    2013-05-01

    This papter introduces a decentralized multivariable robust adaptive voltage and frequency regulator to ensure the stability of large-scale interconnnected generators. Interconnection parameters (i.e. load, line and transormer parameters) are assumed to be unknown. The proposed design approach requires the reformulation of conventiaonal power system models into a multivariable model with generator terminal voltages as state variables, and excitation and turbine valve inputs as control signals. This model, while suitable for the application of modern control methods, introduces problems with regards to current design techniques for large-scale systems. Interconnection terms, which are treated as perturbations, do not meet the common matching condition assumption. A new adaptive method for a certain class of large-scale systems is therefore introduces that does not require the matching condition. The proposed controller consists of nonlinear inputs that cancel some nonlinearities of the model. Auxiliary controls with linear and nonlinear components are used to stabilize the system. They compensate unknown parametes of the model by updating both the nonlinear component gains and excitation parameters. The adaptation algorithms involve the sigma-modification approach for auxiliary control gains, and the projection approach for excitation parameters to prevent estimation drift. The computation of the matrix-gain of the controller linear component requires the resolution of an algebraic Riccati equation and helps to solve the perturbation-mismatching problem. A realistic power system is used to assess the proposed controller performance. The results show that both stability and transient performance are considerably improved following a severe contingency.

  16. Digital Autonomous Terminal Access Communication (DATAC) system

    NASA Technical Reports Server (NTRS)

    Novacki, Stanley M., III

    1987-01-01

    In order to accommodate the increasing number of computerized subsystems aboard today's more fuel efficient aircraft, the Boeing Co. has developed the DATAC (Digital Autonomous Terminal Access Control) bus to minimize the need for point-to-point wiring to interconnect these various systems, thereby reducing total aircraft weight and maintaining an economical flight configuration. The DATAC bus is essentially a local area network providing interconnections for any of the flight management and control systems aboard the aircraft. The task of developing a Bus Monitor Unit was broken down into four subtasks: (1) providing a hardware interface between the DATAC bus and the Z8000-based microcomputer system to be used as the bus monitor; (2) establishing a communication link between the Z8000 system and a CP/M-based computer system; (3) generation of data reduction and display software to output data to the console device; and (4) development of a DATAC Terminal Simulator to facilitate testing of the hardware and software which transfer data between the DATAC's bus and the operator's console in a near real time environment. These tasks are briefly discussed.

  17. Autonomous Control of Space Reactor Systems

    SciTech Connect

    Belle R. Upadhyaya; K. Zhao; S.R.P. Perillo; Xiaojia Xu; M.G. Na

    2007-11-30

    Autonomous and semi-autonomous control is a key element of space reactor design in order to meet the mission requirements of safety, reliability, survivability, and life expectancy. Interrestrial nuclear power plants, human operators are avilable to perform intelligent control functions that are necessary for both normal and abnormal operational conditions.

  18. Values of decentralized systems that avoid investments in idle capacity within the wastewater sector: a theoretical justification.

    PubMed

    Wang, Sheng

    2014-04-01

    In this work, the values of decentralized (onsite) systems that avoid investments in idle capacity within wastewater plans are quantitatively justified using the specific net present value (SNPV) approach. SNPV is a currently proposed criterion in environmental engineering economics that is defined as the net present value of the cost per unit of service or per population equivalent (PE). The SNPV approach was reintroduced with bugs fixed and then applied to the economic analysis of the capital and operating costs of one-stage completed central plants, stage-expanded central plants, and decentralized treatment facilities. The results show that under a demand growth scenario, the central plant will inevitably reach idle capacity, which can be reduced by a staged expansion. However, the staged expansion plan will lose the economies of scale and, hence, is only viable under projections of a low or moderate price inflation rate or high demand growth rate. Onsite treatment systems can theoretically achieve 100% utilization. Assuming that the capital costs per PE of the onsite and central systems are equal, the former is economically favorable in most cases of price inflation as a result of its cost saving on idle capacity. Onsite treatment systems can be viable even though their capital expenditures per PE are higher than that of a comparable centralized option as to a capital investment. This finding suggests wide opening of onsite technology choices. Use of the SNPV showed that average operating expenses of centralized plants decrease as demand growth rates increase as a benefit of economies of scale, whereas those of onsite treatment systems depend only on price inflation. Semi-decentralized systems feature both the financial advantage of the onsite system (capital investment) and the superiority of centralized systems (operation and maintenance); thus, it is worth consideration. The results of this study illustrate not only the value of decentralized systems but

  19. Systems Architecture for Fully Autonomous Space Missions

    NASA Technical Reports Server (NTRS)

    Esper, Jamie; Schnurr, R.; VanSteenberg, M.; Brumfield, Mark (Technical Monitor)

    2002-01-01

    The NASA Goddard Space Flight Center is working to develop a revolutionary new system architecture concept in support of fully autonomous missions. As part of GSFC's contribution to the New Millenium Program (NMP) Space Technology 7 Autonomy and on-Board Processing (ST7-A) Concept Definition Study, the system incorporates the latest commercial Internet and software development ideas and extends them into NASA ground and space segment architectures. The unique challenges facing the exploration of remote and inaccessible locales and the need to incorporate corresponding autonomy technologies within reasonable cost necessitate the re-thinking of traditional mission architectures. A measure of the resiliency of this architecture in its application to a broad range of future autonomy missions will depend on its effectiveness in leveraging from commercial tools developed for the personal computer and Internet markets. Specialized test stations and supporting software come to past as spacecraft take advantage of the extensive tools and research investments of billion-dollar commercial ventures. The projected improvements of the Internet and supporting infrastructure go hand-in-hand with market pressures that provide continuity in research. By taking advantage of consumer-oriented methods and processes, space-flight missions will continue to leverage on investments tailored to provide better services at reduced cost. The application of ground and space segment architectures each based on Local Area Networks (LAN), the use of personal computer-based operating systems, and the execution of activities and operations through a Wide Area Network (Internet) enable a revolution in spacecraft mission formulation, implementation, and flight operations. Hardware and software design, development, integration, test, and flight operations are all tied-in closely to a common thread that enables the smooth transitioning between program phases. The application of commercial software

  20. [Neuropeptide Y and autonomic nervous system].

    PubMed

    Nozdrachev, A D; Masliukov, P M

    2011-01-01

    Neuropeptide Y (NPY) containing 36 amino acid residues belongs to peptides widely spread in the central and peripheral nervous system. NPY and its receptors play an extremely diverse role in the nervous system, including regulation of satiety, of emotional state, of vascular tone, and of gastrointestinal secretion. In mammals, NPY has been revealed in the majority of sympathetic ganglion neurons, in a high number of neurons of parasympathetic cranial ganglia as well as of intramural ganglia of the metasympathetic nervous system. At present, six types of receptors to NPY (Y1-Y6) have been identified. All receptors to NPY belong to the family of G-bound proteins. Action of NPY on peripheral organs-targets is predominantly realized through postsynaptic receptors Y1, Y3-Y5, and presynaptic receptors of the Y2 type. NPY is present in large electron-dense vesicles and is released at high-frequency stimulation. NPY affects not only vascular tone, frequency and strength of heart contractions, motorics and secretion of the gastrointestinal tract, but also has trophic effect and produces proliferation of cells of organs-targets, specifically of vessels, myocardium, and adipose tissue. In early postnatal ontogenesis the percent of the NPY-containing neurons in ganglia of the autonomic nervous system increases. In adult organisms, this parameter decreases. This seems to be connected with the trophic NPY effect on cells-targets as well as with regulation of their functional state.

  1. Closed-loop autonomous docking system

    NASA Technical Reports Server (NTRS)

    Dabney, Richard W. (Inventor); Howard, Richard T. (Inventor)

    1992-01-01

    An autonomous docking system is provided which produces commands for the steering and propulsion system of a chase vehicle used in the docking of that chase vehicle with a target vehicle. The docking system comprises a passive optical target affixed to the target vehicle and comprising three reflective areas including a central area mounted on a short post, and tracking sensor and process controller apparatus carried by the chase vehicle. The latter apparatus comprises a laser diode array for illuminating the target so as to cause light to be reflected from the reflective areas of the target; a sensor for detecting the light reflected from the target and for producing an electrical output signal in accordance with an image of the reflected light; a signal processor for processing the electrical output signal in accordance with an image of the reflected light; a signal processor for processing the electrical output signal and for producing, based thereon, output signals relating to the relative range, roll, pitch, yaw, azimuth, and elevation of the chase and target vehicles; and a docking process controller, responsive to the output signals produced by the signal processor, for producing command signals for controlling the steering and propulsion system of the chase vehicle.

  2. Scanning the horizon in a decentralized healthcare system: the Canadian experience.

    PubMed

    Morrison, Andra

    2012-07-01

    Canada has a highly decentralized health care system with 13 provinces and territories delivering health care within their own respective jurisdictions. Decisions regarding which innovative health technologies to adopt are often driven by the unique health care priorities of each jurisdiction's population. To understand these needs, the Canadian Agency for Drugs and Technologies in Health's (CADTH's) Early Awareness Service has expanded its activities. In addition to proactively scanning the horizon for new and emerging health technologies, the Early Awareness Service also scans the horizon for national and jurisdictional health policy issues. This paper looks at CADTH's process for identifying and monitoring policy issues at a national and jurisdictional level. CADTH's Early Awareness Service delivers timely information on emerging health care concerns and technologies that may affect health care finances, facilities, operations, and patient care. The identification of important policy issues can help determine which new and emerging technologies will have the most significant impact on the health care system. The information that CADTH scans can also be used to help decision-makers prepare for potential developments and events that may have an impact on health care systems. By improving its capability to identify and share policy issues across and within jurisdictions, CADTH is better situated to provide information that can be used by policy-makers to help them plan and anticipate for the introduction of new technologies and future developments affecting the unique health care needs of their jurisdictions.

  3. Active State Model for Autonomous Systems

    NASA Technical Reports Server (NTRS)

    Park, Han; Chien, Steve; Zak, Michail; James, Mark; Mackey, Ryan; Fisher, Forest

    2003-01-01

    The concept of the active state model (ASM) is an architecture for the development of advanced integrated fault-detection-and-isolation (FDI) systems for robotic land vehicles, pilotless aircraft, exploratory spacecraft, or other complex engineering systems that will be capable of autonomous operation. An FDI system based on the ASM concept would not only provide traditional diagnostic capabilities, but also integrate the FDI system under a unified framework and provide mechanism for sharing of information between FDI subsystems to fully assess the overall health of the system. The ASM concept begins with definitions borrowed from psychology, wherein a system is regarded as active when it possesses self-image, self-awareness, and an ability to make decisions itself, such that it is able to perform purposeful motions and other transitions with some degree of autonomy from the environment. For an engineering system, self-image would manifest itself as the ability to determine nominal values of sensor data by use of a mathematical model of itself, and selfawareness would manifest itself as the ability to relate sensor data to their nominal values. The ASM for such a system may start with the closed-loop control dynamics that describe the evolution of state variables. As soon as this model was supplemented with nominal values of sensor data, it would possess self-image. The ability to process the current sensor data and compare them with the nominal values would represent self-awareness. On the basis of self-image and self-awareness, the ASM provides the capability for self-identification, detection of abnormalities, and self-diagnosis.

  4. Lightweight autonomous chemical identification system (LACIS)

    NASA Astrophysics Data System (ADS)

    Lozos, George; Lin, Hai; Burch, Timothy

    2012-06-01

    Smiths Detection and Intelligent Optical Systems have developed prototypes for the Lightweight Autonomous Chemical Identification System (LACIS) for the US Department of Homeland Security. LACIS is to be a handheld detection system for Chemical Warfare Agents (CWAs) and Toxic Industrial Chemicals (TICs). LACIS is designed to have a low limit of detection and rapid response time for use by emergency responders and could allow determination of areas having dangerous concentration levels and if protective garments will be required. Procedures for protection of responders from hazardous materials incidents require the use of protective equipment until such time as the hazard can be assessed. Such accurate analysis can accelerate operations and increase effectiveness. LACIS is to be an improved point detector employing novel CBRNE detection modalities that includes a militaryproven ruggedized ion mobility spectrometer (IMS) with an array of electro-resistive sensors to extend the range of chemical threats detected in a single device. It uses a novel sensor data fusion and threat classification architecture to interpret the independent sensor responses and provide robust detection at low levels in complex backgrounds with minimal false alarms. The performance of LACIS prototypes have been characterized in independent third party laboratory tests at the Battelle Memorial Institute (BMI, Columbus, OH) and indoor and outdoor field tests at the Nevada National Security Site (NNSS). LACIS prototypes will be entering operational assessment by key government emergency response groups to determine its capabilities versus requirements.

  5. APDS: The Autonomous Pathogen Detection System

    SciTech Connect

    Hindson, B; Makarewicz, A; Setlur, U; Henderer, B; McBride, M; Dzenitis, J

    2004-10-04

    We have developed and tested a fully autonomous pathogen detection system (APDS) capable of continuously monitoring the environment for airborne biological threat agents. The system was developed to provide early warning to civilians in the event of a bioterrorism incident and can be used at high profile events for short-term, intensive monitoring or in major public buildings or transportation nodes for long-term monitoring. The APDS is completely automated, offering continuous aerosol sampling, in-line sample preparation fluidics, multiplexed detection and identification immunoassays, and nucleic-acid based polymerase chain reaction (PCR) amplification and detection. Highly multiplexed antibody-based and duplex nucleic acid-based assays are combined to reduce false positives to a very low level, lower reagent costs, and significantly expand the detection capabilities of this biosensor. This article provides an overview of the current design and operation of the APDS. Certain sub-components of the ADPS are described in detail, including the aerosol collector, the automated sample preparation module that performs multiplexed immunoassays with confirmatory PCR, and the data monitoring and communications system. Data obtained from an APDS that operated continuously for seven days in a major U.S. transportation hub is reported.

  6. Autonomous and Autonomic Systems: A Paradigm for Future Space Exploration Missions

    NASA Technical Reports Server (NTRS)

    Truszkowski, Walter F.; Hinchey, Michael G.; Rash, James L.; Rouff, Christopher A.

    2004-01-01

    NASA increasingly will rely on autonomous systems concepts, not only in the mission control centers on the ground, but also on spacecraft and on rovers and other assets on extraterrestrial bodies. Automomy enables not only reduced operations costs, But also adaptable goal-driven functionality of mission systems. Space missions lacking autonomy will be unable to achieve the full range of advanced mission objectives, given that human control under dynamic environmental conditions will not be feasible due, in part, to the unavoidably high signal propagation latency and constrained data rates of mission communications links. While autonomy cost-effectively supports accomplishment of mission goals, autonomicity supports survivability of remote mission assets, especially when human tending is not feasible. Autonomic system properties (which ensure self-configuring, self-optimizing self-healing, and self-protecting behavior) conceptually may enable space missions of a higher order into any previously flown. Analysis of two NASA agent-based systems previously prototyped, and of a proposed future mission involving numerous cooperating spacecraft, illustrates how autonomous and autonomic system concepts may be brought to bear on future space missions.

  7. Review of legal and institutional issues in the use of decentralized solar energy systems

    SciTech Connect

    Schweitzer, M.

    1980-04-01

    The legal and institutional issues involved in the use of decentralized solar energy systems are examined for the purpose of advising government planners and policymakers, the solar industry, solar researchers, and prospective solar users of present and potential impediments and incentives to solar commercialization. This information was gathered primarily through a comprehensive literature review, with supplementary data provided through interviews with representatives of organizations active in the solar field. Five major issue areas were identified in the course of this study: (1) prohibitions on the use of solar equipment, (2) regulation of the production and placement of solar systems, (3) access to sunlight, (4) financial incentives and impediments to the use of solar technologies, and (5) the public utility-solar user interface. Each can be important in its impacts on the incidence of solar usage. The major actors involved with the issues identified above represent both the private and public sectors. Important private sector participants include solar manufacturers and installers, labor unions, lending institutions, utility companies, solar users themselves, and other community property owners. In the public sector, local, state, and federal governments are all capable of acting in ways that can influence the solar commercialization effort. Implementation options are available for all levels of government seeking to take an active role in addressing the previously mentioned legal and institutional issues. The appropriate actions will vary from federal to state to local governments, but each level can be important in removing existing barriers and creating new incentives for solar use.

  8. Cardiac autonomic nervous system activity in obesity.

    PubMed

    Liatis, Stavros; Tentolouris, Nikolaos; Katsilambros, Nikolaos

    2004-08-01

    The development of obesity is caused by a disturbance of energy balance, with energy intake exceeding energy expenditure. As the autonomic nervous system (ANS) has a role in the regulation of both these variables, it has become a major focus of investigation in the fields of obesity pathogenesis. The enhanced cardiac sympathetic drive shown in most of the studies in obese persons might be due to an increase in their levels of circulating insulin. The role of leptin needs further investigation with studies in humans. There is a blunted response of the cardiac sympathetic nervous system (SNS) activity in obese subjects after consumption of a carbohydrate-rich meal as well as after insulin administration. This might be due to insulin resistance. It is speculated that increased SNS activity in obesity may contribute to the development of hypertension in genetically susceptible individuals. It is also speculated that the increase in cardiac SNS activity under fasting conditions in obesity may be associated with high cardiovascular morbidity and mortality.

  9. Implementation of Deconfliction in Multivehicle Autonomous Systems

    DTIC Science & Technology

    2010-01-01

    two fin -actuated vehicles was replaced with a remote control toy shark controlled by a human operator. The human operator drove the toy shark directly...Fig. 4 Vehicle Swarm Technology Laboratory (VSTL) developed by the Boeing Research and Technology group. 3.2 University of Washington Fin -Actuated...Autonomous Underwater Vehicles The UW testbed is composed of a set of three fin -actuated autonomous underwater vehi- cles (Fig. 6) operating in a

  10. Differential responses of components of the autonomic nervous system.

    PubMed

    Goldstein, David S

    2013-01-01

    This chapter conveys several concepts and points of view about the scientific and medical significance of differential alterations in activities of components of the autonomic nervous system in stress and disease. The use of terms such as "the autonomic nervous system," "autonomic failure," "dysautonomia," and "autonomic dysfunction" imply the existence of a single entity; however, the autonomic nervous system has functionally and neurochemically distinctive components, which are reflected in differential responses to stressors and differential involvement in pathophysiologic states. One can conceptualize the autonomic nervous system as having at least five components: the sympathetic noradrenergic system, the sympathetic cholinergic system, the parasympathetic cholinergic system, the sympathetic adrenergic system, and the enteric nervous system. Evidence has accumulated for differential noradrenergic vs. adrenergic responses in various situations. The largest sympathetic adrenergic system responses are seen when the organism encounters stressors that pose a global or metabolic threat. Sympathetic noradrenergic system activation dominates the responses to orthostasis, moderate exercise, and exposure to cold, whereas sympathetic adrenergic system activation dominates those to glucoprivation and emotional distress. There seems to be at least as good a justification for the concept of coordinated adrenocortical-adrenomedullary responses as for coordinated adrenomedullary-sympathoneural responses in stress. Fainting reactions involve differential adrenomedullary hormonal vs. sympathetic noradrenergic activation. Parkinson disease entails relatively selective dysfunction of the sympathetic noradrenergic system, with prominent loss of noradrenergic nerves in the heart, yet normal adrenomedullary function. Allostatic load links stress with degenerative diseases, and Parkinson disease may be a disease of the elderly because of allostatic load.

  11. The experience of implementing the board of trustees’ policy in teaching hospitals in Iran: an example of health system decentralization

    PubMed Central

    Doshmangir, Leila; Rashidian, Arash; Ravaghi, Hamid; Takian, Amirhossein; Jafari, Mehdi

    2015-01-01

    Background: In 2004, the health system in Iran initiated an organizational reform aiming to increase the autonomy of teaching hospitals and make them more decentralized. The policy led to the formation of a board of trustees in each hospital and significant modifications in hospitals’ financing. Since the reform aimed to improve its predecessor policy (implementation of hospital autonomy began in 1995), it expected to increase user satisfaction, as well as enhance effectiveness and efficiency of healthcare services in targeted hospitals. However, such expectations were never realized. In this research, we explored the perceptions and views of expert stakeholders as to why the board of trustees’ policy did not achieve its perceived objectives. Methods: We conducted 47 semi-structured face-to-face interviews and two focus group discussions (involving 8 and 10 participants, respectively) with experts at high, middle, and low levels of Iran’s health system, using purposive and snowball sampling. We also collected a comprehensive set of relevant documents. Interviews were transcribed verbatim and analyzed thematically, following a mixed inductive-deductive approach. Results: Three main themes emerged from the analysis. The implementation approach (including the processes, views about the policy and the links between the policy components), using research evidence about the policy (local and global), and policy context (health system structure, health insurers capacity, hospitals’ organization and capacity and actors’ interrelationships) affected the policy outcomes. Overall, the implementation of hospital decentralization policies in Iran did not seem to achieve their intended targets as a result of assumed failure to take full consideration of the above factors in policy implementation into account. Conclusion: The implementation of the board of trustees’ policy did not achieve its desired goals in teaching hospitals in Iran. Similar decentralization

  12. Cardiac autonomic profile in rheumatoid arthritis and systemic lupus erythematosus.

    PubMed

    Aydemir, M; Yazisiz, V; Basarici, I; Avci, A B; Erbasan, F; Belgi, A; Terzioglu, E

    2010-03-01

    Neurological involvement is a well-documented issue in patients with systemic lupus erythematosus (SLE) and rheumatoid arthritis (RA). However, little is known about the involvement of the autonomic nervous system. This study was conducted to investigate autonomic nervous system dysfunction in patients with RA and SLE. Twenty-six RA patients, 38 SLE patients and 40 healthy controls were recruited from our in- and out-patient departments. Heart rate variability (HRV) parameters (the power of the high- [HF] and low-frequency [LF] band of haemodynamic time series, the ratio between low- and high-frequency components [LF/HF ratio], the power spectral density), baroreflex sensitivity (BRS) and beat-to-beat blood pressures were assessed by a novel non-invasive haemodynamic monitoring tool (Task Force Monitor [TFM], CNSystems Medizintechnik GmbH, Graz, Austria). Autonomic nervous system dysfunction was determined according to classical Ewing autonomic test battery. Furthermore, we implemented a secondary autonomic test score by modifying the Ewing test battery with additional criteria. Both the classical and modified Ewing test batteries have revealed that the frequencies of autonomic neuropathy were significantly higher in patient groups compared with controls (p < 0.001). Evaluation by TFM revealed that deterioration of sophisticated autonomic parameters (such as HRV and BRS) were more pronounced in the patient groups compared with controls. There was a significant association between BRS and Ewing test scores and abnormal BRS results were more frequent in patients with autonomic dysfunction according to Ewing test batteries. No relation was found between autonomic neuropathy and disease duration, disease activity and autoantibody positivity. Consequently, we believe that further large-scale studies investigating cardiovascular autonomic neuropathy in rheumatic diseases should be carried out to verify our findings and manifest clinical consequences beyond these results.

  13. The Autonomous Pathogen Detection System (APDS)

    SciTech Connect

    Morris, J; Dzenitis, J

    2004-09-22

    Shaped like a mailbox on wheels, it's been called a bioterrorism ''smoke detector.'' It can be found in transportation hubs such as airports and subways, and it may be coming to a location near you. Formally known as the Autonomous Pathogen Detection System, or APDS, this latest tool in the war on bioterrorism was developed at Lawrence Livermore National Laboratory to continuously sniff the air for airborne pathogens and toxins such as anthrax or plague. The APDS is the modern day equivalent of the canaries miners took underground with them to test for deadly carbon dioxide gas. But this canary can test for numerous bacteria, viruses, and toxins simultaneously, report results every hour, and confirm positive samples and guard against false positive results by using two different tests. The fully automated system collects and prepares air samples around the clock, does the analysis, and interprets the results. It requires no servicing or human intervention for an entire week. Unlike its feathered counterpart, when an APDS unit encounters something deadly in the air, that's when it begins singing, quietly. The APDS unit transmits a silent alert and sends detailed data to public health authorities, who can order evacuation and begin treatment of anyone exposed to toxic or biological agents. It is the latest in a series of biodefense detectors developed at DOE/NNSA national laboratories. The manual predecessor to APDS, called BASIS (for Biological Aerosol Sentry and Information System), was developed jointly by Los Alamos and Lawrence Livermore national laboratories. That system was modified to become BioWatch, the Department of Homeland Security's biological urban monitoring program. A related laboratory instrument, the Handheld Advanced Nucleic Acid Analyzer (HANAA), was first tested successfully at LLNL in September 1997. Successful partnering with private industry has been a key factor in the rapid advancement and deployment of biodefense instruments such as these

  14. Development of an autonomous target tracking system

    NASA Astrophysics Data System (ADS)

    Gidda, Venkata Ramaiah

    In recent years, surveillance and border patrol have become one of the key research areas in UAV research. Increase in the computational capability of the computers and embedded electronics, coupled with compatibility of various commercial vision algorithms and commercial off the shelf (COTS) embedded electronics, and has further fuelled the research. The basic task in these applications is perception of environment through the available visual sensors like camera. Visual tracking, as the name implies, is tracking of objects using a camera. The process of autonomous target tracking starts with the selection of the target in a sequence of video frames transmitted from the on-board camera. We use an improved fast dynamic template matching algorithm coupled with Kalman Filter to track the selected target in consecutive video frames. The selected target is saved as a reference template. On the ground station computer, the reference template is overlaid on the live streaming video from the on-board system, starting from the upper left corner of the video frame. The template is slid pixel by pixel over the entire source image. A comparison of the pixels is performed between the template and source image. A confidence value R of the match is calculated at each pixel. Based on the method used to perform the template matching, the best match pixel location is found according to the highest or lowest confidence value R. The best match pixel location is communicated to the on-board gimbal controller over the wireless Xbee network. The software on the controller actuates the pan-tilt servos to continuously to hold the selected target at the center of the video frame. The complete system is a portable control system assembled from commercial off the shelf parts. The tracking system is tested on a target having several motion patterns.

  15. Physics Simulation Software for Autonomous Propellant Loading and Gas House Autonomous System Monitoring

    NASA Technical Reports Server (NTRS)

    Regalado Reyes, Bjorn Constant

    2015-01-01

    1. Kennedy Space Center (KSC) is developing a mobile launching system with autonomous propellant loading capabilities for liquid-fueled rockets. An autonomous system will be responsible for monitoring and controlling the storage, loading and transferring of cryogenic propellants. The Physics Simulation Software will reproduce the sensor data seen during the delivery of cryogenic fluids including valve positions, pressures, temperatures and flow rates. The simulator will provide insight into the functionality of the propellant systems and demonstrate the effects of potential faults. This will provide verification of the communications protocols and the autonomous system control. 2. The High Pressure Gas Facility (HPGF) stores and distributes hydrogen, nitrogen, helium and high pressure air. The hydrogen and nitrogen are stored in cryogenic liquid state. The cryogenic fluids pose several hazards to operators and the storage and transfer equipment. Constant monitoring of pressures, temperatures and flow rates are required in order to maintain the safety of personnel and equipment during the handling and storage of these commodities. The Gas House Autonomous System Monitoring software will be responsible for constantly observing and recording sensor data, identifying and predicting faults and relaying hazard and operational information to the operators.

  16. Real-Time Trajectory Generation for Autonomous Nonlinear Flight Systems

    DTIC Science & Technology

    2006-04-01

    Real-Time Trajectory Generation for Autonomous Nonlinear Flight Systems AF02T002 Phase II Final Report Contract No. FA9550-04-C-0032 Principal...3. REPORT TYPE AND DATES COVERED Final Report for 14 April 2004-14 April 2006 Real-Time Trajectory Generation for Autonomous Nonlinear Flight...A 13. ABSTRACT (Maximum 200 Words) Unmanned aerial vehicle and smart munition systems need robust, real-time path generation and

  17. The LEA's Role in a Decentralized School System: The School Principals' View

    ERIC Educational Resources Information Center

    Addi-Raccah, Audrey; Gavish, Yakov

    2010-01-01

    Since the wave of school reform decentralization, schools now maintain a more dynamic and diverse relationship with their environment than they did in the past. School principals' relationships with the local educational authority (LEA) are a prominent example of this change in Israel. LEAs try to gain more pedagogic influence over schools while…

  18. On Event-Triggered Adaptive Architectures for Decentralized and Distributed Control of Large-Scale Modular Systems.

    PubMed

    Albattat, Ali; Gruenwald, Benjamin C; Yucelen, Tansel

    2016-08-16

    The last decade has witnessed an increased interest in physical systems controlled over wireless networks (networked control systems). These systems allow the computation of control signals via processors that are not attached to the physical systems, and the feedback loops are closed over wireless networks. The contribution of this paper is to design and analyze event-triggered decentralized and distributed adaptive control architectures for uncertain networked large-scale modular systems; that is, systems consist of physically-interconnected modules controlled over wireless networks. Specifically, the proposed adaptive architectures guarantee overall system stability while reducing wireless network utilization and achieving a given system performance in the presence of system uncertainties that can result from modeling and degraded modes of operation of the modules and their interconnections between each other. In addition to the theoretical findings including rigorous system stability and the boundedness analysis of the closed-loop dynamical system, as well as the characterization of the effect of user-defined event-triggering thresholds and the design parameters of the proposed adaptive architectures on the overall system performance, an illustrative numerical example is further provided to demonstrate the efficacy of the proposed decentralized and distributed control approaches.

  19. On Event-Triggered Adaptive Architectures for Decentralized and Distributed Control of Large-Scale Modular Systems

    PubMed Central

    Albattat, Ali; Gruenwald, Benjamin C.; Yucelen, Tansel

    2016-01-01

    The last decade has witnessed an increased interest in physical systems controlled over wireless networks (networked control systems). These systems allow the computation of control signals via processors that are not attached to the physical systems, and the feedback loops are closed over wireless networks. The contribution of this paper is to design and analyze event-triggered decentralized and distributed adaptive control architectures for uncertain networked large-scale modular systems; that is, systems consist of physically-interconnected modules controlled over wireless networks. Specifically, the proposed adaptive architectures guarantee overall system stability while reducing wireless network utilization and achieving a given system performance in the presence of system uncertainties that can result from modeling and degraded modes of operation of the modules and their interconnections between each other. In addition to the theoretical findings including rigorous system stability and the boundedness analysis of the closed-loop dynamical system, as well as the characterization of the effect of user-defined event-triggering thresholds and the design parameters of the proposed adaptive architectures on the overall system performance, an illustrative numerical example is further provided to demonstrate the efficacy of the proposed decentralized and distributed control approaches. PMID:27537894

  20. Feeling good: autonomic nervous system responding in five positive emotions.

    PubMed

    Shiota, Michelle N; Neufeld, Samantha L; Yeung, Wan H; Moser, Stephanie E; Perea, Elaine F

    2011-12-01

    Although dozens of studies have examined the autonomic nervous system (ANS) aspects of negative emotions, less is known about ANS responding in positive emotion. An evolutionary framework was used to define five positive emotions in terms of fitness-enhancing function, and to guide hypotheses regarding autonomic responding. In a repeated measures design, participants viewed sets of visual images eliciting these positive emotions (anticipatory enthusiasm, attachment love, nurturant love, amusement, and awe) plus an emotionally neutral state. Peripheral measures of sympathetic and vagal parasympathetic activation were assessed. Results indicated that the emotion conditions were characterized by qualitatively distinct profiles of autonomic activation, suggesting the existence of multiple, physiologically distinct positive emotions.

  1. Formal Methods for Autonomic and Swarm-based Systems

    NASA Technical Reports Server (NTRS)

    Rouff, Christopher; Vanderbilt, Amy; Hinchey, Mike; Truszkowski, Walt; Rash, James

    2004-01-01

    Swarms of intelligent rovers and spacecraft are being considered for a number of future NASA missions. These missions will provide MSA scientist and explorers greater flexibility and the chance to gather more science than traditional single spacecraft missions. These swarms of spacecraft are intended to operate for large periods of time without contact with the Earth. To do this, they must be highly autonomous, have autonomic properties and utilize sophisticated artificial intelligence. The Autonomous Nano Technology Swarm (ANTS) mission is an example of one of the swarm type of missions NASA is considering. This mission will explore the asteroid belt using an insect colony analogy cataloging the mass, density, morphology, and chemical composition of the asteroids, including any anomalous concentrations of specific minerals. Verifying such a system would be a huge task. This paper discusses ongoing work to develop a formal method for verifying swarm and autonomic systems.

  2. Experimental design for assessing the effectiveness of autonomous countermine systems

    NASA Astrophysics Data System (ADS)

    Chappell, Isaac; May, Michael; Moses, Franklin L.

    2010-04-01

    The countermine mission (CM) is a compelling example of what autonomous systems must address to reduce risks that Soldiers take routinely. The list of requirements is formidable and includes autonomous navigation, autonomous sensor scanning, platform mobility and stability, mobile manipulation, automatic target recognition (ATR), and systematic integration and control of components. This paper compares and contrasts how the CM is done today against the challenges of achieving comparable performance using autonomous systems. The Soldier sets a high standard with, for example, over 90% probability of detection (Pd) of metallic and low-metal mines and a false alarm rate (FAR) as low as 0.05/m2. In this paper, we suggest a simplification of the semi-autonomous CM by breaking it into three components: sensor head maneuver, robot navigation, and kill-chain prosecution. We also discuss the measurements required to map the system's physical and state attributes to performance specifications and note that current Army countermine metrics are insufficient to the guide the design of a semi-autonomous countermine system.

  3. Equipment Proposal for the Autonomous Vehicle Systems Laboratory at UIW

    DTIC Science & Technology

    2015-04-29

    Conference. 17-MAY-15, . : , Michael T. Frye, Robert S. Provence. Direct Inverse Control using an Artificial Neural Network for the Autonomous Hover of...As a first step to demonstrating this objective, the PI has been investigating a Machine Learning technique using Direct Inverse Control for the... control of a formation of multi-agent autonomous systems in uncertain dynamic environments. The educational mission of this laboratory is to introduce new

  4. Development of an Automatic Identification System Autonomous Positioning System.

    PubMed

    Hu, Qing; Jiang, Yi; Zhang, Jingbo; Sun, Xiaowen; Zhang, Shufang

    2015-11-11

    In order to overcome the vulnerability of the global navigation satellite system (GNSS) and provide robust position, navigation and time (PNT) information in marine navigation, the autonomous positioning system based on ranging-mode Automatic Identification System (AIS) is presented in the paper. The principle of the AIS autonomous positioning system (AAPS) is investigated, including the position algorithm, the signal measurement technique, the geometric dilution of precision, the time synchronization technique and the additional secondary factor correction technique. In order to validate the proposed AAPS, a verification system has been established in the Xinghai sea region of Dalian (China). Static and dynamic positioning experiments are performed. The original function of the AIS in the AAPS is not influenced. The experimental results show that the positioning precision of the AAPS is better than 10 m in the area with good geometric dilution of precision (GDOP) by the additional secondary factor correction technology. This is the most economical solution for a land-based positioning system to complement the GNSS for the navigation safety of vessels sailing along coasts.

  5. Development of an Automatic Identification System Autonomous Positioning System

    PubMed Central

    Hu, Qing; Jiang, Yi; Zhang, Jingbo; Sun, Xiaowen; Zhang, Shufang

    2015-01-01

    In order to overcome the vulnerability of the global navigation satellite system (GNSS) and provide robust position, navigation and time (PNT) information in marine navigation, the autonomous positioning system based on ranging-mode Automatic Identification System (AIS) is presented in the paper. The principle of the AIS autonomous positioning system (AAPS) is investigated, including the position algorithm, the signal measurement technique, the geometric dilution of precision, the time synchronization technique and the additional secondary factor correction technique. In order to validate the proposed AAPS, a verification system has been established in the Xinghai sea region of Dalian (China). Static and dynamic positioning experiments are performed. The original function of the AIS in the AAPS is not influenced. The experimental results show that the positioning precision of the AAPS is better than 10 m in the area with good geometric dilution of precision (GDOP) by the additional secondary factor correction technology. This is the most economical solution for a land-based positioning system to complement the GNSS for the navigation safety of vessels sailing along coasts. PMID:26569258

  6. Autonomous Car Parking System through a Cooperative Vehicular Positioning Network.

    PubMed

    Correa, Alejandro; Boquet, Guillem; Morell, Antoni; Lopez Vicario, Jose

    2017-04-13

    The increasing development of the automotive industry towards a fully autonomous car has motivated the design of new value-added services in Vehicular Sensor Networks (VSNs). Within the context of VSNs, the autonomous car, with an increasing number of on-board sensors, is a mobile node that exchanges sensed and state information within the VSN. Among all the value added services for VSNs, the design of new intelligent parking management architectures where the autonomous car will coexist with traditional cars is mandatory in order to profit from all the opportunities associated with the increasing intelligence of the new generation of cars. In this work, we design a new smart parking system on top of a VSN that takes into account the heterogeneity of cars and provides guidance to the best parking place for the autonomous car based on a collaborative approach that searches for the common good of all of them measured by the accessibility rate, which is the ratio of the free parking places accessible for an autonomous car. Then, we simulate a real parking lot and the results show that the performance of our system is close to the optimum considering different communication ranges and penetration rates for the autonomous car.

  7. Role of the autonomic nervous system in modulating cardiac arrhythmias.

    PubMed

    Shen, Mark J; Zipes, Douglas P

    2014-03-14

    The autonomic nervous system plays an important role in the modulation of cardiac electrophysiology and arrhythmogenesis. Decades of research has contributed to a better understanding of the anatomy and physiology of cardiac autonomic nervous system and provided evidence supporting the relationship of autonomic tone to clinically significant arrhythmias. The mechanisms by which autonomic activation is arrhythmogenic or antiarrhythmic are complex and different for specific arrhythmias. In atrial fibrillation, simultaneous sympathetic and parasympathetic activations are the most common trigger. In contrast, in ventricular fibrillation in the setting of cardiac ischemia, sympathetic activation is proarrhythmic, whereas parasympathetic activation is antiarrhythmic. In inherited arrhythmia syndromes, sympathetic stimulation precipitates ventricular tachyarrhythmias and sudden cardiac death except in Brugada and J-wave syndromes where it can prevent them. The identification of specific autonomic triggers in different arrhythmias has brought the idea of modulating autonomic activities for both preventing and treating these arrhythmias. This has been achieved by either neural ablation or stimulation. Neural modulation as a treatment for arrhythmias has been well established in certain diseases, such as long QT syndrome. However, in most other arrhythmia diseases, it is still an emerging modality and under investigation. Recent preliminary trials have yielded encouraging results. Further larger-scale clinical studies are necessary before widespread application can be recommended.

  8. Improving Human/Autonomous System Teaming Through Linguistic Analysis

    NASA Technical Reports Server (NTRS)

    Meszaros, Erica L.

    2016-01-01

    An area of increasing interest for the next generation of aircraft is autonomy and the integration of increasingly autonomous systems into the national airspace. Such integration requires humans to work closely with autonomous systems, forming human and autonomous agent teams. The intention behind such teaming is that a team composed of both humans and autonomous agents will operate better than homogenous teams. Procedures exist for licensing pilots to operate in the national airspace system and current work is being done to define methods for validating the function of autonomous systems, however there is no method in place for assessing the interaction of these two disparate systems. Moreover, currently these systems are operated primarily by subject matter experts, limiting their use and the benefits of such teams. Providing additional information about the ongoing mission to the operator can lead to increased usability and allow for operation by non-experts. Linguistic analysis of the context of verbal communication provides insight into the intended meaning of commonly heard phrases such as "What's it doing now?" Analyzing the semantic sphere surrounding these common phrases enables the prediction of the operator's intent and allows the interface to supply the operator's desired information.

  9. Systems, methods and apparatus for quiesence of autonomic systems with self action

    NASA Technical Reports Server (NTRS)

    Hinchey, Michael G. (Inventor); Sterritt, Roy (Inventor)

    2011-01-01

    Systems, methods and apparatus are provided in which an autonomic unit or element is quiesced. A quiesce component of an autonomic unit can cause the autonomic unit to self-destruct if a stay-alive reprieve signal is not received after a predetermined time.

  10. Advances in Autonomous Systems for Missions of Space Exploration

    NASA Astrophysics Data System (ADS)

    Gross, A. R.; Smith, B. D.; Briggs, G. A.; Hieronymus, J.; Clancy, D. J.

    New missions of space exploration will require unprecedented levels of autonomy to successfully accomplish their objectives. Both inherent complexity and communication distances will preclude levels of human involvement common to current and previous space flight missions. With exponentially increasing capabilities of computer hardware and software, including networks and communication systems, a new balance of work is being developed between humans and machines. This new balance holds the promise of meeting the greatly increased space exploration requirements, along with dramatically reduced design, development, test, and operating costs. New information technologies, which take advantage of knowledge-based software, model-based reasoning, and high performance computer systems, will enable the development of a new generation of design and development tools, schedulers, and vehicle and system health monitoring and maintenance capabilities. Such tools will provide a degree of machine intelligence and associated autonomy that has previously been unavailable. These capabilities are critical to the future of space exploration, since the science and operational requirements specified by such missions, as well as the budgetary constraints that limit the ability to monitor and control these missions by a standing army of ground- based controllers. System autonomy capabilities have made great strides in recent years, for both ground and space flight applications. Autonomous systems have flown on advanced spacecraft, providing new levels of spacecraft capability and mission safety. Such systems operate by utilizing model-based reasoning that provides the capability to work from high-level mission goals, while deriving the detailed system commands internally, rather than having to have such commands transmitted from Earth. This enables missions of such complexity and communications distance as are not otherwise possible, as well as many more efficient and low cost

  11. A design strategy for autonomous systems

    NASA Technical Reports Server (NTRS)

    Forster, Pete

    1989-01-01

    Some solutions to crucial issues regarding the competent performance of an autonomously operating robot are identified; namely, that of handling multiple and variable data sources containing overlapping information and maintaining coherent operation while responding adequately to changes in the environment. Support for the ideas developed for the construction of such behavior are extracted from speculations in the study of cognitive psychology, an understanding of the behavior of controlled mechanisms, and the development of behavior-based robots in a few robot research laboratories. The validity of these ideas is supported by some simple simulation experiments in the field of mobile robot navigation and guidance.

  12. Autonomic Cluster Management System (ACMS): A Demonstration of Autonomic Principles at Work

    NASA Technical Reports Server (NTRS)

    Baldassari, James D.; Kopec, Christopher L.; Leshay, Eric S.; Truszkowski, Walt; Finkel, David

    2005-01-01

    Cluster computing, whereby a large number of simple processors or nodes are combined together to apparently function as a single powerful computer, has emerged as a research area in its own right. The approach offers a relatively inexpensive means of achieving significant computational capabilities for high-performance computing applications, while simultaneously affording the ability to. increase that capability simply by adding more (inexpensive) processors. However, the task of manually managing and con.guring a cluster quickly becomes impossible as the cluster grows in size. Autonomic computing is a relatively new approach to managing complex systems that can potentially solve many of the problems inherent in cluster management. We describe the development of a prototype Automatic Cluster Management System (ACMS) that exploits autonomic properties in automating cluster management.

  13. Autonomous navigation system based on GPS and magnetometer data

    NASA Technical Reports Server (NTRS)

    Julie, Thienel K. (Inventor); Richard, Harman R. (Inventor); Bar-Itzhack, Itzhack Y. (Inventor)

    2004-01-01

    This invention is drawn to an autonomous navigation system using Global Positioning System (GPS) and magnetometers for low Earth orbit satellites. As a magnetometer is reliable and always provides information on spacecraft attitude, rate, and orbit, the magnetometer-GPS configuration solves GPS initialization problem, decreasing the convergence time for navigation estimate and improving the overall accuracy. Eventually the magnetometer-GPS configuration enables the system to avoid costly and inherently less reliable gyro for rate estimation. Being autonomous, this invention would provide for black-box spacecraft navigation, producing attitude, orbit, and rate estimates without any ground input with high accuracy and reliability.

  14. Experimental Verification of Fully Decentralized Control Inspired by Plasmodium of True Slime Mold

    NASA Astrophysics Data System (ADS)

    Umedachi, Takuya; Takeda, Koichi; Nakagaki, Toshiyuki; Kobayashi, Ryo; Ishiguro, Akio

    This paper presents a fully decentralized control inspired by plasmodium of true slime mold and its validity using a soft-bodied amoeboid robot. The notable features of this paper are twofold: (1) the robot has truly soft and deformable body stemming from real-time tunable springs and a balloon, the former is utilized as an outer skin of the body and the latter serves as protoplasm; and (2) a fully decentralized control using coupled oscillators with completely local sensory feedback mechanism is realized by exploiting the long-distance physical interaction between the body parts induced by the law of conservation of protoplasmic mass. Experimental results show that this robot exhibits truly supple locomotion without relying on any hierarchical structure. The results obtained are expected to shed new light on design scheme for autonomous decentralized control system.

  15. Decentral Smart Grid Control

    NASA Astrophysics Data System (ADS)

    Schäfer, Benjamin; Matthiae, Moritz; Timme, Marc; Witthaut, Dirk

    2015-01-01

    Stable operation of complex flow and transportation networks requires balanced supply and demand. For the operation of electric power grids—due to their increasing fraction of renewable energy sources—a pressing challenge is to fit the fluctuations in decentralized supply to the distributed and temporally varying demands. To achieve this goal, common smart grid concepts suggest to collect consumer demand data, centrally evaluate them given current supply and send price information back to customers for them to decide about usage. Besides restrictions regarding cyber security, privacy protection and large required investments, it remains unclear how such central smart grid options guarantee overall stability. Here we propose a Decentral Smart Grid Control, where the price is directly linked to the local grid frequency at each customer. The grid frequency provides all necessary information about the current power balance such that it is sufficient to match supply and demand without the need for a centralized IT infrastructure. We analyze the performance and the dynamical stability of the power grid with such a control system. Our results suggest that the proposed Decentral Smart Grid Control is feasible independent of effective measurement delays, if frequencies are averaged over sufficiently large time intervals.

  16. Autonomous Dispersed Control System for Independent Micro Grid

    NASA Astrophysics Data System (ADS)

    Kawasaki, Kensuke; Matsumura, Shigenori; Iwabu, Koichi; Fujimura, Naoto; Iima, Takahito

    In this paper, we show an autonomous dispersed control system for independent micro grid of which performance has been substantiated in China by Shikoku Electric Power Co. and its subsidiary companies under the trust of NEDO (New Energy and Industrial Technology Development Organization). For the control of grid interconnected generators, the exclusive information line is very important to save fuel cost and maintain high frequency quality on electric power supply, but it is relatively expensive in such small micro grid. We contrived an autonomous dispersed control system without any exclusive information line for dispatching control and adjusting supply control. We have confirmed through the substantiation project in China that this autonomous dispersed control system for independent micro grid has a well satisfactory characteristic from the view point of less fuel consumption and high electric quality.

  17. Autonomous-Control Concept For Instrument Pointing System

    NASA Technical Reports Server (NTRS)

    Mettler, Edward; Milman, Mark H.; Bayard, David S.

    1990-01-01

    Integrated payload articulation and identification system (IPAIDS) is conceptual system to control aiming of instruments aboard spacecraft of proposed Earth Observation System (EOS). Principal features of concept include advanced control strategies intended to assure robustness of performance over wide range of uncertainties in characteristics of spacecraft and instrument system. Intended originally for application to spacecraft system, has potential utility on Earth for automatic control of autonomous (robotic) vehicles or of remote sensing systems.

  18. Space station automation study: Autonomous systems and assembly, volume 2

    NASA Technical Reports Server (NTRS)

    Bradford, K. Z.

    1984-01-01

    This final report, prepared by Martin Marietta Denver Aerospace, provides the technical results of their input to the Space Station Automation Study, the purpose of which is to develop informed technical guidance in the use of autonomous systems to implement space station functions, many of which can be programmed in advance and are well suited for automated systems.

  19. An autonomous control system for boiler-turbine units

    SciTech Connect

    Ben-Abdennour, A.; Lee, K.Y.

    1996-06-01

    Achieving a more autonomous power plant operation is an important part of power plant control. To be autonomous, a control system needs to provide adequate control actions in the presence of significant uncertainties and/or disturbances, such as actuator or component failures, with minimum or no human assistance. However, a reasonable degree of autonomy is difficult to obtain without incorporating intelligence in the control system. This paper presents a coordinated intelligent control scheme with a high degree of autonomy. In this scheme, a Fuzzy-Logic based supervisor monitors the overall plant operation and carries the tasks of coordination, fault diagnosis, fault isolation, and fault accommodation.

  20. REACT - A Third Generation Language For Autonomous Robot Systems

    NASA Astrophysics Data System (ADS)

    Longley, Maxwell J.; Owens, John; Allen, Charles R.; Ratcliff, Karl

    1990-03-01

    REACT is a language under development at Newcastle for the programming of autonomous robot systems, which uses AI constructs and sensor information to respond to failures in assumptions about the real-world by replanning a task. This paper describes the important features of a REACT programmed robotic system, and the results of some initial studies made on defining an executive language using a concept called visiblity sets. Several examples from the language are then applied to specific examples e.g. a white line follower and a railway network controller. The applicability of visibility sets to autonomous robots is evaluated.

  1. Turning a remotely controllable observatory into a fully autonomous system

    NASA Astrophysics Data System (ADS)

    Swindell, Scott; Johnson, Chris; Gabor, Paul; Zareba, Grzegorz; Kubánek, Petr; Prouza, Michael

    2014-08-01

    We describe a complex process needed to turn an existing, old, operational observatory - The Steward Observatory's 61" Kuiper Telescope - into a fully autonomous system, which observers without an observer. For this purpose, we employed RTS2,1 an open sourced, Linux based observatory control system, together with other open sourced programs and tools (GNU compilers, Python language for scripting, JQuery UI for Web user interface). This presentation provides a guide with time estimates needed for a newcomers to the field to handle such challenging tasks, as fully autonomous observatory operations.

  2. Autonomous Control and Diagnostics of Space Reactor Systems

    SciTech Connect

    Upadhyaya, B.R.; Xu, X.; Perillo, S.R.P.; Na, M.G.

    2006-07-01

    This paper describes three key features of the development of an autonomous control strategy for space reactor systems. These include the development of a reactor simulation model for transient analysis, development of model-predictive control as part of the autonomous control strategy, and a fault detection and isolation module. The latter is interfaced with the control supervisor as part of a hierarchical control system. The approach has been applied to the nodal model of the SP-100 reactor with a thermo-electric generator. The results of application demonstrate the effectiveness of the control approach and its ability to reconfigure the control mode under fault conditions. (authors)

  3. Autonomous satellite navigation with the Global Positioning System

    NASA Technical Reports Server (NTRS)

    Fuchs, A. J.; Wooden, W. H., II; Long, A. C.

    1977-01-01

    This paper discusses the potential of using the Global Positioning System (GPS) to provide autonomous navigation capability to NASA satellites in the 1980 era. Some of the driving forces motivating autonomous navigation are presented. These include such factors as advances in attitude control systems, onboard science annotation, and onboard gridding of imaging data. Simulation results which demonstrate baseline orbit determination accuracies using GPS data on Seasat, Landsat-D, and the Solar Maximum Mission are presented. Emphasis is placed on identifying error sources such as GPS time, GPS ephemeris, user timing biases, and user orbit dynamics, and in a parametric sense on evaluating their contribution to the orbit determination accuracies.

  4. Neuromuscular nicotinic receptors mediate bladder contractions following bladder reinnervation with somatic to autonomic nerve transfer after decentralization by spinal root transection

    PubMed Central

    Gomez-Amaya, Sandra M.; Barbe, Mary F.; Lamarre, Neil S.; Brown, Justin M.; Braverman, Alan S.; Ruggieri, Michael R.

    2015-01-01

    This study investigates whether the reinnervated neuronal pathway mediates contraction via the same neurotransmitter and receptor mechanisms as the original pathway. Following bladder decentralization by transection of sacral roots, peripheral nerve transfer was performed with bilateral genitofemoral to pelvic nerve transfer (GFNT) and unilateral (left) femoral nerve to bilateral pelvic nerve transfer (FNT). Reinnervation was assessed 7.5 months post operatively by monitoring bladder pressure during electrical stimulation of the transferred nerves, spinal ventral roots, and spinal cord. Of the 17 animals with GFNT, 14 (82%) demonstrated functional bladder reinnervation as evidenced by increased bladder pressure during stimulation of the transferred GFN or the L3 or L4 spinal ventral roots. Lumbar spinal cord stimulation caused increased bladder pressure in 9 of 10 (90%) animals with FNT. Succinylcholine (SCh) virtually eliminated bladder pressure increases induced by electrical stimulation of the transferred somatic nerves or the lumbar spinal segments that contribute axons to these donor nerves. In control animals (either un-operated or sham-operated) SCh had no effect on nerve evoked bladder pressure increases but substantially reduced urethra and anal sphincter pressure induced by stimulation of either the lumbosacral spinal cord or the S2-3 spinal ventral roots. The reinnervated detrusor muscles of GFNT and FNT animals also contained increased alpha1 nicotinic receptor subunit immunoreactivity in punctate dots on detrusor muscle fascicles and in neuronal cell bodies, staining not observed in control animals. PMID:25444958

  5. Trust Management in Swarm-Based Autonomic Computing Systems

    SciTech Connect

    Maiden, Wendy M.; Haack, Jereme N.; Fink, Glenn A.; McKinnon, Archibald D.; Fulp, Errin W.

    2009-07-07

    Reputation-based trust management techniques can address issues such as insider threat as well as quality of service issues that may be malicious in nature. However, trust management techniques must be adapted to the unique needs of the architectures and problem domains to which they are applied. Certain characteristics of swarms such as their lightweight ephemeral nature and indirect communication make this adaptation especially challenging. In this paper we look at the trust issues and opportunities in mobile agent swarm-based autonomic systems and find that by monitoring the trustworthiness of the autonomic managers rather than the swarming sensors, the trust management problem becomes much more scalable and still serves to protect the swarms. We also analyze the applicability of trust management research as it has been applied to architectures with similar characteristics. Finally, we specify required characteristics for trust management mechanisms to be used to monitor the trustworthiness of the entities in a swarm-based autonomic computing system.

  6. Music and Autonomic Nervous System (Dys)function

    PubMed Central

    Ellis, Robert J.; Thayer, Julian F.

    2010-01-01

    Despite a wealth of evidence for the involvement of the autonomic nervous system (ANS) in health and disease and the ability of music to affect ANS activity, few studies have systematically explored the therapeutic effects of music on ANS dysfunction. Furthermore, when ANS activity is quantified and analyzed, it is usually from a point of convenience rather than from an understanding of its physiological basis. After a review of the experimental and therapeutic literatures exploring music and the ANS, a “Neurovisceral Integration” perspective on the interplay between the central and autonomic nervous systems is introduced, and the associated implications for physiological, emotional, and cognitive health are explored. The construct of heart rate variability is discussed both as an example of this complex interplay and as a useful metric for exploring the sometimes subtle effect of music on autonomic response. Suggestions for future investigations using musical interventions are offered based on this integrative account. PMID:21197136

  7. Equipment management guide. Improving the drug distribution process--do you need an automated decentralized pharmacy dispensing system?

    PubMed

    1996-12-01

    In this Equipment Management Guide, we provide guidance to help hospitals determine whether implementing an automated decentralized pharmacy dispensing system (ADPDS) will be an effective way to improve their drug distribution process. We describe the ADPDSs themselves and then discuss factors that hospitals should consider before deciding on such a system. Specifically, we identify several areas that many pharmacies target for improvement and discuss whether and how an ADPDS can help the facility make the desired improvements. We also provide guidance for determining the cost-effectiveness of such a system, as well as for selecting a system that will most appropriately meet the hospital's needs. In the Evaluation that follows this Guide, we present our criteria for evaluating ADPDSs and the results of our testing of three such systems.

  8. A functional system architecture for fully autonomous robot

    NASA Astrophysics Data System (ADS)

    Kalaycioglu, S.

    The Mobile Servicing System (MSS) Autonomous Robotics Program intends to define and plan the development of technologies required to provide a supervised autonomous operation capability for the Special Purpose Dexterous Manipulator (SPDM) on the MSS. The operational functions for the SPDM to perform the required tasks, both in fully autonomous or supervised modes, are identified. Functional decomposition is performed using a graphics oriented methodology called Structural Analysis Design Technique. This process defines the functional architecture of the system, the types of data required to support its functionality, and the control processes that need to be emplaced. On the basis of the functional decomposition, a technology breakdown structure is also developed. A preliminary estimate of the status and maturity of each relevant technology is made, based on this technology breakdown. The developed functional hierarchy is found to be very effective for a robotic system with any level of autonomy. Moreover, this hierarchy can easily be applied to an existing very low level autonomous system and can provide a smooth transition towards a higher degree of autonomy. The effectiveness of the developed functional hierarchy will also play a very significant role both in the system design as well as in the development of the control hierarchy.

  9. Using Multimodal Input for Autonomous Decision Making for Unmanned Systems

    NASA Technical Reports Server (NTRS)

    Neilan, James H.; Cross, Charles; Rothhaar, Paul; Tran, Loc; Motter, Mark; Qualls, Garry; Trujillo, Anna; Allen, B. Danette

    2016-01-01

    Autonomous decision making in the presence of uncertainly is a deeply studied problem space particularly in the area of autonomous systems operations for land, air, sea, and space vehicles. Various techniques ranging from single algorithm solutions to complex ensemble classifier systems have been utilized in a research context in solving mission critical flight decisions. Realized systems on actual autonomous hardware, however, is a difficult systems integration problem, constituting a majority of applied robotics development timelines. The ability to reliably and repeatedly classify objects during a vehicles mission execution is vital for the vehicle to mitigate both static and dynamic environmental concerns such that the mission may be completed successfully and have the vehicle operate and return safely. In this paper, the Autonomy Incubator proposes and discusses an ensemble learning and recognition system planned for our autonomous framework, AEON, in selected domains, which fuse decision criteria, using prior experience on both the individual classifier layer and the ensemble layer to mitigate environmental uncertainty during operation.

  10. Mamdani Fuzzy System for Indoor Autonomous Mobile Robot

    NASA Astrophysics Data System (ADS)

    Khan, M. K. A. Ahamed; Rashid, Razif; Elamvazuthi, I.

    2011-06-01

    Several control algorithms for autonomous mobile robot navigation have been proposed in the literature. Recently, the employment of non-analytical methods of computing such as fuzzy logic, evolutionary computation, and neural networks has demonstrated the utility and potential of these paradigms for intelligent control of mobile robot navigation. In this paper, Mamdani fuzzy system for an autonomous mobile robot is developed. The paper begins with the discussion on the conventional controller and then followed by the description of fuzzy logic controller in detail.

  11. Autonomous Frequency-Domain System-Identification Program

    NASA Technical Reports Server (NTRS)

    Yam, Yeung; Mettler, Edward; Bayard, David S.; Hadaegh, Fred Y.; Milman, Mark H.; Scheid, Robert E.

    1993-01-01

    Autonomous Frequency Domain Identification (AU-FREDI) computer program implements system of methods, algorithms, and software developed for identification of parameters of mathematical models of dynamics of flexible structures and characterization, by use of system transfer functions, of such models, dynamics, and structures regarded as systems. Software considered collection of routines modified and reassembled to suit system-identification and control experiments on large flexible structures.

  12. TOWARD HIGHLY SECURE AND AUTONOMIC COMPUTING SYSTEMS: A HIERARCHICAL APPROACH

    SciTech Connect

    Lee, Hsien-Hsin S

    2010-05-11

    The overall objective of this research project is to develop novel architectural techniques as well as system software to achieve a highly secure and intrusion-tolerant computing system. Such system will be autonomous, self-adapting, introspective, with self-healing capability under the circumstances of improper operations, abnormal workloads, and malicious attacks. The scope of this research includes: (1) System-wide, unified introspection techniques for autonomic systems, (2) Secure information-flow microarchitecture, (3) Memory-centric security architecture, (4) Authentication control and its implication to security, (5) Digital right management, (5) Microarchitectural denial-of-service attacks on shared resources. During the period of the project, we developed several architectural techniques and system software for achieving a robust, secure, and reliable computing system toward our goal.

  13. A Decentralized Approach to the Formulation of Hypotheses: A Hierarchical Structural Model for a Prion Self-Assembled System

    PubMed Central

    Wang, Mingyang; Zhang, Feifei; Song, Chao; Shi, Pengfei; Zhu, Jin

    2016-01-01

    Innovation in hypotheses is a key transformative driver for scientific development. The conventional centralized hypothesis formulation approach, where a dominant hypothesis is typically derived from a primary phenomenon, can, inevitably, impose restriction on the range of conceivable experiments and legitimate hypotheses, and ultimately impede understanding of the system of interest. We report herein the proposal of a decentralized approach for the formulation of hypotheses, through initial preconception-free phenomenon accumulation and subsequent reticular logical reasoning processes. The two-step approach can provide an unbiased, panoramic view of the system and as such should enable the generation of a set of more coherent and therefore plausible hypotheses. As a proof-of-concept demonstration of the utility of this open-ended approach, a hierarchical model has been developed for a prion self-assembled system, allowing insight into hitherto elusive static and dynamic features associated with this intriguing structure. PMID:27464832

  14. A Decentralized Approach to the Formulation of Hypotheses: A Hierarchical Structural Model for a Prion Self-Assembled System

    NASA Astrophysics Data System (ADS)

    Wang, Mingyang; Zhang, Feifei; Song, Chao; Shi, Pengfei; Zhu, Jin

    2016-07-01

    Innovation in hypotheses is a key transformative driver for scientific development. The conventional centralized hypothesis formulation approach, where a dominant hypothesis is typically derived from a primary phenomenon, can, inevitably, impose restriction on the range of conceivable experiments and legitimate hypotheses, and ultimately impede understanding of the system of interest. We report herein the proposal of a decentralized approach for the formulation of hypotheses, through initial preconception-free phenomenon accumulation and subsequent reticular logical reasoning processes. The two-step approach can provide an unbiased, panoramic view of the system and as such should enable the generation of a set of more coherent and therefore plausible hypotheses. As a proof-of-concept demonstration of the utility of this open-ended approach, a hierarchical model has been developed for a prion self-assembled system, allowing insight into hitherto elusive static and dynamic features associated with this intriguing structure.

  15. Modeling and Control Strategies for Autonomous Robotic Systems

    DTIC Science & Technology

    1991-12-23

    Robotic Systems 12 PERSONAL AUTHOR(S) Roger W. Brockett A]&. TYPE Of REPORT 113b. TIME COVERD 114 DATt__Of RE PVRT (Year- month, Day) S.PAGE COUNT Final...NO. ACCESSION NO Reseaich Triangle Park, NC 27709-2211I I 11 TITLE (ir-’-4 Cae-unrv Canmuicauon) Modeling and Control Strategies for Autonomous

  16. Is There Anything "Autonomous" in the Nervous System?

    ERIC Educational Resources Information Center

    Rasia-Filho, Alberto A.

    2006-01-01

    The terms "autonomous" or "vegetative" are currently used to identify one part of the nervous system composed of sympathetic, parasympathetic, and gastrointestinal divisions. However, the concepts that are under the literal meaning of these words can lead to misconceptions about the actual nervous organization. Some clear-cut examples indicate…

  17. Cancellation of the Army’s Autonomous Navigation System

    DTIC Science & Technology

    2012-08-02

    by Army Red Team System Name Sponsor ANS-Like Capabilities Cargo-UGV Marine Warfighting Lab Remote Operation, Vehicle Leader / Follower , Road...Following Ground Unmanned Support Surrogate Marine Warfighting Lab Remote Operation, Soldier Leader / Follower Convoy Active Safety Technologies Army...Tank and Automotive Research, Development, and Engineering Command Remote Operation, Vehicle Leader / Follower , Road Following Mobile Autonomous

  18. Random attractor of non-autonomous stochastic Boussinesq lattice system

    SciTech Connect

    Zhao, Min Zhou, Shengfan

    2015-09-15

    In this paper, we first consider the existence of tempered random attractor for second-order non-autonomous stochastic lattice dynamical system of nonlinear Boussinesq equations effected by time-dependent coupled coefficients and deterministic forces and multiplicative white noise. Then, we establish the upper semicontinuity of random attractors as the intensity of noise approaches zero.

  19. The optical axis optimization in measurement of decentration of lens

    NASA Astrophysics Data System (ADS)

    Wang, Yajing; Yang, Lin; Wang, Chunyu

    2013-09-01

    Measure of optical decentration plays an important role in inspection, installation and adjustment of optical system. This article describes optical measurement principle of decentration, analyzes the reason of the decentration measurement accuracy, and indicates the necessity of optimizing the optical axis. Finally, because of the error of the decentration optical axis fitting. A new method of optical axis optimization is put forward here. A mathematical model to find the best optical axis is established, which improved the optical performance of the system.

  20. Blackboard architectures and their relationship to autonomous space systems

    NASA Technical Reports Server (NTRS)

    Thornbrugh, Allison

    1988-01-01

    The blackboard architecture provides a powerful paradigm for the autonomy expected in future spaceborne systems, especially SDI and Space Station. Autonomous systems will require skill in both the classic task of information analysis and the newer tasks of decision making, planning and system control. Successful blackboard systems have been built to deal with each of these tasks separately. The blackboard paradigm achieves success in difficult domains through its ability to integrate several uncertain sources of knowledge. In addition to flexible behavior during autonomous operation, the system must also be capable of incrementally growing from semiautonomy to full autonomy. The blackboard structure allows this development. The blackboard's ability to handle error, its flexible execution, and variants of this paradigm are discussed as they apply to specific problems of the space environment.

  1. Skin biopsies in the assessment of the autonomic nervous system.

    PubMed

    Wang, Ningshan; Gibbons, Christopher H

    2013-01-01

    Cutaneous punch biopsies are widely used to evaluate nociceptive C fibers in patients with suspected small-fiber neuropathy. Recent advances in immunohistochemical techniques and interest in cutaneous autonomic innervation has expanded the role of skin biopsy in the evaluation of the peripheral nervous system. The dermal layers of the skin provide a unique window into the structural evaluation of the autonomic nervous system. Peripheral adrenergic and cholinergic fibers innervate a number of cutaneous structures, such as sweat glands and arrector pili muscles, and can easily be seen with punch skin biopsies. Skin biopsies allow for both regional sampling, in diseases with patchy distribution, and the opportunity for repeated sampling in progressive disorders. The structural evaluation of cutaneous autonomic innervation is still in its scientific infancy, with a number of different methodologies and techniques that will require standardization and widespread acceptance before becoming a standard of care. Future studies of autonomic innervation in acquired, hereditary, neurodegenerative, or autoimmune disorders will be necessary to determine the clinical utility of skin biopsy in these disease states.

  2. Scheduling lessons learned from the Autonomous Power System

    NASA Technical Reports Server (NTRS)

    Ringer, Mark J.

    1992-01-01

    The Autonomous Power System (APS) project at NASA LeRC is designed to demonstrate the applications of integrated intelligent diagnosis, control, and scheduling techniques to space power distribution systems. The project consists of three elements: the Autonomous Power Expert System (APEX) for Fault Diagnosis, Isolation, and Recovery (FDIR); the Autonomous Intelligent Power Scheduler (AIPS) to efficiently assign activities start times and resources; and power hardware (Brassboard) to emulate a space-based power system. The AIPS scheduler was tested within the APS system. This scheduler is able to efficiently assign available power to the requesting activities and share this information with other software agents within the APS system in order to implement the generated schedule. The AIPS scheduler is also able to cooperatively recover from fault situations by rescheduling the affected loads on the Brassboard in conjunction with the APEX FDIR system. AIPS served as a learning tool and an initial scheduling testbed for the integration of FDIR and automated scheduling systems. Many lessons were learned from the AIPS scheduler and are now being integrated into a new scheduler called SCRAP (Scheduler for Continuous Resource Allocation and Planning). This paper will service three purposes: an overview of the AIPS implementation, lessons learned from the AIPS scheduler, and a brief section on how these lessons are being applied to the new SCRAP scheduler.

  3. Global Positioning System Synchronized Active Light Autonomous Docking System

    NASA Technical Reports Server (NTRS)

    Howard, Richard (Inventor)

    1994-01-01

    A Global Positioning System Synchronized Active Light Autonomous Docking System (GPSSALADS) for automatically docking a chase vehicle with a target vehicle comprises at least one active light emitting target which is operatively attached to the target vehicle. The target includes a three-dimensional array of concomitantly flashing lights which flash at a controlled common frequency. The GPSSALADS further comprises a visual tracking sensor operatively attached to the chase vehicle for detecting and tracking the target vehicle. Its performance is synchronized with the flash frequency of the lights by a synchronization means which is comprised of first and second internal clocks operatively connected to the active light target and visual tracking sensor, respectively, for providing timing control signals thereto, respectively. The synchronization means further includes first and second Global Positioning System receivers operatively connected to the first and second internal clocks, respectively, for repeatedly providing simultaneous synchronization pulses to the internal clocks, respectively. In addition, the GPSSALADS includes a docking process controller means which is operatively attached to the chase vehicle and is responsive to the visual tracking sensor for producing commands for the guidance and propulsion system of the chase vehicle.

  4. Global Positioning System Synchronized Active Light Autonomous Docking System

    NASA Technical Reports Server (NTRS)

    Howard, Richard T. (Inventor); Book, Michael L. (Inventor); Bryan, Thomas C. (Inventor); Bell, Joseph L. (Inventor)

    1996-01-01

    A Global Positioning System Synchronized Active Light Autonomous Docking System (GPSSALADS) for automatically docking a chase vehicle with a target vehicle comprising at least one active light emitting target which is operatively attached to the target vehicle. The target includes a three-dimensional array of concomitantly flashing lights which flash at a controlled common frequency. The GPSSALADS further comprises a visual tracking sensor operatively attached to the chase vehicle for detecting and tracking the target vehicle. Its performance is synchronized with the flash frequency of the lights by a synchronization means which is comprised of first and second internal clocks operatively connected to the active light target and visual tracking sensor, respectively, for providing timing control signals thereto, respectively. The synchronization means further includes first and second Global Positioning System receivers operatively connected to the first and second internal clocks, respectively, for repeatedly providing simultaneous synchronization pulses to the internal clocks, respectively. In addition, the GPSSALADS includes a docking process controller means which is operatively attached to the chase vehicle and is responsive to the visual tracking sensor for producing commands for the guidance and propulsion system of the chase vehicle.

  5. Miniature Autonomous Rocket Recovery System (MARRS)

    DTIC Science & Technology

    2011-05-01

    ChIMU = Cheap Inertial Measurement Unit GNC = Guidance, Navigation and Control GPS = Global Positioning System INS = Inertial Navigation System...factors during deployment and necessity to employ integrated GPS/INS navigation system rather than just GPS-based GNC system. This paper focuses on...delivering payloads even closer to the target.3,4 Specifically, this paper explores a capability to utilize an advanced GNC system developed for the

  6. Multisensor robotic system for autonomous space maintenance and repair

    NASA Technical Reports Server (NTRS)

    Abidi, M. A.; Green, W. L.; Chandra, T.; Spears, J.

    1988-01-01

    The feasibility of realistic autonomous space manipulation tasks using multisensory information is demonstrated. The system is capable of acquiring, integrating, and interpreting multisensory data to locate, mate, and demate a Fluid Interchange System (FIS) and a Module Interchange System (MIS). In both cases, autonomous location of a guiding light target, mating, and demating of the system are performed. Implemented visio-driven techniques are used to determine the arbitrary two-dimensional position and orientation of the mating elements as well as the arbitrary three-dimensional position and orientation of the light targets. A force/torque sensor continuously monitors the six components of force and torque exerted on the end-effector. Both FIS and MIS experiments were successfully accomplished on mock-ups built for this purpose. The method is immune to variations in the ambient light, in particular because of the 90-minute day-night shift in space.

  7. An Information System for Science and Technology in Yugoslavia

    ERIC Educational Resources Information Center

    Wesley-Tanaskovic, Ines

    1975-01-01

    In Yugoslavia, a plan for a decentralized information system based on the cooperation of referral centers in republics and autonomous provinces has been drawn up and is now being implemented. (Author)

  8. Toward autonomous driving: The CMU Navlab. II - Architecture and systems

    NASA Technical Reports Server (NTRS)

    Thorpe, Charles; Hebert, Martial; Kanade, Takeo; Shafer, Steven

    1991-01-01

    A description is given of EDDIE, the architecture for the Navlab mobile robot which provides a toolkit for building specific systems quickly and easily. Included in the discussion are the annotated maps used by EDDIE and the Navlab's road-following system, called the Autonomous Mail Vehicle, which was built using EDDIE and its annotated maps as a basis. The contributions of the Navlab project and the lessons learned from it are examined.

  9. Autonomous Systems in Human Behavior and Development

    ERIC Educational Resources Information Center

    Wolff, P.

    1974-01-01

    Reviews research which demonstrates that responses from different behavior systems to a given stimulus situation may be far from perfectly correlated with each other. Discusses the phylogenetic and ontogenetic development of these systems and the roles of both the species and the individual in bringing the systems into mutual correspondence.…

  10. The organization of an autonomous learning system

    NASA Technical Reports Server (NTRS)

    Kanerva, Pentti

    1988-01-01

    The organization of systems that learn from experience is examined, human beings and animals being prime examples of such systems. How is their information processing organized. They build an internal model of the world and base their actions on the model. The model is dynamic and predictive, and it includes the systems' own actions and their effects. In modeling such systems, a large pattern of features represents a moment of the system's experience. Some of the features are provided by the system's senses, some control the system's motors, and the rest have no immediate external significance. A sequence of such patterns then represents the system's experience over time. By storing such sequences appropriately in memory, the system builds a world model based on experience. In addition to the essential function of memory, fundamental roles are played by a sensory system that makes raw information about the world suitable for memory storage and by a motor system that affects the world. The relation of sensory and motor systems to the memory is discussed, together with how favorable actions can be learned and unfavorable actions can be avoided. Results in classical learning theory are explained in terms of the model, more advanced forms of learning are discussed, and the relevance of the model to the frame problem of robotics is examined.

  11. Large autonomous spacecraft electrical power system (LASEPS)

    NASA Technical Reports Server (NTRS)

    Dugal-Whitehead, Norma R.; Johnson, Yvette B.

    1992-01-01

    NASA - Marshall Space Flight Center is creating a large high voltage electrical power system testbed called LASEPS. This testbed is being developed to simulate an end-to-end power system from power generation and source to loads. When the system is completed it will have several power configurations, which will include several battery configurations. These configurations are: two 120 V batteries, one or two 150 V batteries, and one 250 to 270 V battery. This breadboard encompasses varying levels of autonomy from remote power converters to conventional software control to expert system control of the power system elements. In this paper, the construction and provisions of this breadboard are discussed.

  12. Autonomic nervous system activities during motor imagery in elite athletes.

    PubMed

    Oishi, Kazuo; Maeshima, Takashi

    2004-01-01

    Motor imagery (MI), a mental simulation of voluntary motor actions, has been used as a training method for athletes for many years. It is possible that MI techniques might similarly be useful as part of rehabilitative strategies to help people regain skills lost as a consequence of diseases or stroke. Mental activity and stress induce several different autonomic responses as part of the behavioral response to movement (e.g., motor anticipation) and as part of the central planning and preprogramming of movement. However, the interrelationships between MI, the autonomic responses, and the motor system have not yet been worked out. The authors compare a number of autonomic responses (respiration, heart rate, electro skin resistance) and motoneuron excitability (soleus H-reflex) in elite and nonelite speed skaters during MI. In contrast to the nonelite athletes, MI of elite speed skaters is characterized by larger changes in heart rate and respiration, a greater reliance on an internal perspective for MI, a more vivid MI, a more accurate correspondence between the MI and actual race times, and decreased motoneuron excitability. Two observations suggest that the changes in the autonomic responses and motoneuron excitability for the elite speed skaters are related to the effects of central motor programming: (1) there was no correlation between the autonomic responses for MI and those recorded during mental arithmetic; and (2) mental arithmetic did not significantly alter motoneuron activity. It is suggested that in elite speed skaters, the descending neural mechanisms that reduce motoneuron excitability are activated even when full, vivid MI is performed internally. These inhibitory responses of the motor system may enhance actual motor performance under conditions of remarkably high mental stress, such as that which occurs in the Olympic games.

  13. Workshop on Assurance for Autonomous Systems for Aviation

    NASA Technical Reports Server (NTRS)

    Brat, Guillaume; Davies, Misty; Giannakopoulou, Dimitra; Neogi, Natasha

    2016-01-01

    This report describes the workshop on Assurance for Autonomous Systems for Aviation that was held in January 2016 in conjunction with the SciTech 2016 conference held in San Diego, CA. The workshop explored issues related to assurance for autonomous systems and also the idea of trust in these systems. Specifically, we focused on discussing current practices for assurance of autonomy, identifying barriers specific to autonomy as related to assurance as well as operational scenarios demonstrating the need to address the barriers. Furthermore, attention was given to identifying verification techniques that may be applicable to autonomy, as well as discussing new research directions needed to address barriers, thereby involving potential shifts in current practices.

  14. Intelligent systems for the autonomous exploration of Titan and Enceladus

    NASA Astrophysics Data System (ADS)

    Furfaro, Roberto; Lunine, Jonathan I.; Kargel, Jeffrey S.; Fink, Wolfgang

    2008-04-01

    Future planetary exploration of the outer satellites of the Solar System will require higher levels of onboard automation, including autonomous determination of sites where the probability of significant scientific findings is highest. Generally, the level of needed automation is heavily influenced by the distance between Earth and the robotic explorer(s) (e.g. spacecraft(s), rover(s), and balloon(s)). Therefore, planning missions to the outer satellites mandates the analysis, design and integration within the mission architecture of semi- and/or completely autonomous intelligence systems. Such systems should (1) include software packages that enable fully automated and comprehensive identification, characterization, and quantification of feature information within an operational region with subsequent target prioritization and selection for close-up reexamination; and (2) integrate existing information with acquired, "in transit" spatial and temporal sensor data to automatically perform intelligent planetary reconnaissance, which includes identification of sites with the highest potential to yield significant geological and astrobiological information. In this paper we review and compare some of the available Artificial Intelligence (AI) schemes and their adaptation to the problem of designing expert systems for onboard-based, autonomous science to be performed in the course of outer satellites exploration. More specifically, the fuzzy-logic framework proposed is analyzed in some details to show the effectiveness of such a scheme when applied to the problem of designing expert systems capable of identifying and further exploring regions on Titan and/or Enceladus that have the highest potential to yield evidence for past or present life. Based on available information (e.g., Cassini data), the current knowledge and understanding of Titan and Enceladus environments is evaluated to define a path for the design of a fuzzy-based system capable of reasoning over

  15. A Test-Bed Configuration: Toward an Autonomous System

    NASA Astrophysics Data System (ADS)

    Ocaña, F.; Castillo, M.; Uranga, E.; Ponz, J. D.; TBT Consortium

    2015-09-01

    In the context of the Space Situational Awareness (SSA) program of ESA, it is foreseen to deploy several large robotic telescopes in remote locations to provide surveillance and tracking services for man-made as well as natural near-Earth objects (NEOs). The present project, termed Telescope Test Bed (TBT) is being developed under ESA's General Studies and Technology Programme, and shall implement a test-bed for the validation of an autonomous optical observing system in a realistic scenario, consisting of two telescopes located in Spain and Australia, to collect representative test data for precursor NEO services. In order to fulfill all the security requirements for the TBT project, the use of a autonomous emergency system (AES) is foreseen to monitor the control system. The AES will monitor remotely the health of the observing system and the internal and external environment. It will incorporate both autonomous and interactive actuators to force the protection of the system (i.e., emergency dome close out).

  16. Multi-agent autonomous system and method

    NASA Technical Reports Server (NTRS)

    Fink, Wolfgang (Inventor); Dohm, James (Inventor); Tarbell, Mark A. (Inventor)

    2010-01-01

    A method of controlling a plurality of crafts in an operational area includes providing a command system, a first craft in the operational area coupled to the command system, and a second craft in the operational area coupled to the command system. The method further includes determining a first desired destination and a first trajectory to the first desired destination, sending a first command from the command system to the first craft to move a first distance along the first trajectory, and moving the first craft according to the first command. A second desired destination and a second trajectory to the second desired destination are determined and a second command is sent from the command system to the second craft to move a second distance along the second trajectory.

  17. Upgrade of the HET segment control system, utilizing state-of-the-art, decentralized and embedded system controllers

    NASA Astrophysics Data System (ADS)

    Häuser, Marco; Richter, Josef; Kriel, Herman; Turbyfill, Amanda; Buetow, Brent; Ward, Michael

    2016-07-01

    Together with the ongoing major instrument upgrade of the Hobby-Eberly Telescope (HET) we present the planned upgrade of the HET Segment Control System (SCS) to SCS2. Because HET's primary mirror is segmented into 91 individual 1-meter hexagonal mirrors, the SCS is essential to maintain the mirror alignment throughout an entire night of observations. SCS2 will complete tip, tilt and piston corrections of each mirror segment at a significantly higher rate than the original SCS. The new motion control hardware will further increase the system's reliability. The initial optical measurements of this array are performed by the Mirror Alignment Recovery System (MARS) and the HET Extra Focal Instrument (HEFI). Once the segments are optically aligned, the inductive edge sensors give sub-micron precise feedback of each segment's positions relative to its adjacent segments. These sensors are part of the Segment Alignment Maintenance System (SAMS) and are responsible for providing information about positional changes due to external influences, such as steep temperature changes and mechanical stress, and for making compensatory calculations while tracking the telescope on sky. SCS2 will use the optical alignment systems and SAMS inputs to command corrections of every segment in a closed loop. The correction period will be roughly 30 seconds, mostly due to the measurement and averaging process of the SAMS algorithm. The segment actuators will be controlled by the custom developed HET Segment MOtion COntroller (SMOCO). It is a direct descendant of University Observatory Munich's embedded, CAN-based system and instrument control tool-kit. To preserve the existing HET hardware layout, each SMOCO will control two adjacent mirror segments. Unlike the original SCS motor controllers, SMOCO is able to drive all six axes of its two segments at the same time. SCS2 will continue to allow for sub-arcsecond precision in tip and tilt as well as sub-micro meter precision in piston. These

  18. Intelligent vision system for autonomous vehicle operations

    NASA Technical Reports Server (NTRS)

    Scholl, Marija S.

    1991-01-01

    A complex optical system consisting of a 4f optical correlator with programmatic filters under the control of a digital on-board computer that operates at video rates for filter generation, storage, and management is described.

  19. Mathematical biomarkers for the autonomic regulation of cardiovascular system.

    PubMed

    Campos, Luciana A; Pereira, Valter L; Muralikrishna, Amita; Albarwani, Sulayma; Brás, Susana; Gouveia, Sónia

    2013-10-07

    Heart rate and blood pressure are the most important vital signs in diagnosing disease. Both heart rate and blood pressure are characterized by a high degree of short term variability from moment to moment, medium term over the normal day and night as well as in the very long term over months to years. The study of new mathematical algorithms to evaluate the variability of these cardiovascular parameters has a high potential in the development of new methods for early detection of cardiovascular disease, to establish differential diagnosis with possible therapeutic consequences. The autonomic nervous system is a major player in the general adaptive reaction to stress and disease. The quantitative prediction of the autonomic interactions in multiple control loops pathways of cardiovascular system is directly applicable to clinical situations. Exploration of new multimodal analytical techniques for the variability of cardiovascular system may detect new approaches for deterministic parameter identification. A multimodal analysis of cardiovascular signals can be studied by evaluating their amplitudes, phases, time domain patterns, and sensitivity to imposed stimuli, i.e., drugs blocking the autonomic system. The causal effects, gains, and dynamic relationships may be studied through dynamical fuzzy logic models, such as the discrete-time model and discrete-event model. We expect an increase in accuracy of modeling and a better estimation of the heart rate and blood pressure time series, which could be of benefit for intelligent patient monitoring. We foresee that identifying quantitative mathematical biomarkers for autonomic nervous system will allow individual therapy adjustments to aim at the most favorable sympathetic-parasympathetic balance.

  20. Mathematical biomarkers for the autonomic regulation of cardiovascular system

    PubMed Central

    Campos, Luciana A.; Pereira, Valter L.; Muralikrishna, Amita; Albarwani, Sulayma; Brás, Susana; Gouveia, Sónia

    2013-01-01

    Heart rate and blood pressure are the most important vital signs in diagnosing disease. Both heart rate and blood pressure are characterized by a high degree of short term variability from moment to moment, medium term over the normal day and night as well as in the very long term over months to years. The study of new mathematical algorithms to evaluate the variability of these cardiovascular parameters has a high potential in the development of new methods for early detection of cardiovascular disease, to establish differential diagnosis with possible therapeutic consequences. The autonomic nervous system is a major player in the general adaptive reaction to stress and disease. The quantitative prediction of the autonomic interactions in multiple control loops pathways of cardiovascular system is directly applicable to clinical situations. Exploration of new multimodal analytical techniques for the variability of cardiovascular system may detect new approaches for deterministic parameter identification. A multimodal analysis of cardiovascular signals can be studied by evaluating their amplitudes, phases, time domain patterns, and sensitivity to imposed stimuli, i.e., drugs blocking the autonomic system. The causal effects, gains, and dynamic relationships may be studied through dynamical fuzzy logic models, such as the discrete-time model and discrete-event model. We expect an increase in accuracy of modeling and a better estimation of the heart rate and blood pressure time series, which could be of benefit for intelligent patient monitoring. We foresee that identifying quantitative mathematical biomarkers for autonomic nervous system will allow individual therapy adjustments to aim at the most favorable sympathetic-parasympathetic balance. PMID:24109456

  1. Autonomous Aerial Payload Delivery System Blizzard

    DTIC Science & Technology

    2011-05-01

    known systems. Another technique to achieve a high touchdown accuracy is networking, enabling communication between multiple descending ADSs, UAV...Global System for Mobile ( Communications ) MCCC = mission C2 center PATCAD = Precision Airdrop Technology Conference and Demonstration SA = situational... high performance gimbal (seen in Fig.1 and shown in more details in Fig.2) featuring a full 360° un-obstructed field of view, direct drive

  2. Cloud Absorption Radiometer Autonomous Navigation System - CANS

    NASA Technical Reports Server (NTRS)

    Kahle, Duncan; Gatebe, Charles; McCune, Bill; Hellwig, Dustan

    2013-01-01

    CAR (cloud absorption radiometer) acquires spatial reference data from host aircraft navigation systems. This poses various problems during CAR data reduction, including navigation data format, accuracy of position data, accuracy of airframe inertial data, and navigation data rate. Incorporating its own navigation system, which included GPS (Global Positioning System), roll axis inertia and rates, and three axis acceleration, CANS expedites data reduction and increases the accuracy of the CAR end data product. CANS provides a self-contained navigation system for the CAR, using inertial reference and GPS positional information. The intent of the software application was to correct the sensor with respect to aircraft roll in real time based upon inputs from a precision navigation sensor. In addition, the navigation information (including GPS position), attitude data, and sensor position details are all streamed to a remote system for recording and later analysis. CANS comprises a commercially available inertial navigation system with integral GPS capability (Attitude Heading Reference System AHRS) integrated into the CAR support structure and data system. The unit is attached to the bottom of the tripod support structure. The related GPS antenna is located on the P-3 radome immediately above the CAR. The AHRS unit provides a RS-232 data stream containing global position and inertial attitude and velocity data to the CAR, which is recorded concurrently with the CAR data. This independence from aircraft navigation input provides for position and inertial state data that accounts for very small changes in aircraft attitude and position, sensed at the CAR location as opposed to aircraft state sensors typically installed close to the aircraft center of gravity. More accurate positional data enables quicker CAR data reduction with better resolution. The CANS software operates in two modes: initialization/calibration and operational. In the initialization/calibration mode

  3. Representing Autonomous Systems Self-Confidence through Competency Boundaries

    DTIC Science & Technology

    2015-01-01

    Thomas Hughes Infoscitex Corporation , Dayton, OH, USA A method for determining the self-confidence of autonomous systems is proposed to assist...teaming. ACKNOWLEDGEMENTS The work presented was supported by the Air Force Research Lab (AFRL) and Infoscitex Corporation . REFERENCES...Henson, T. D., Daniels, J. W., Jordan, J. D., Shcroder, K. L., & Shokair, I. R. (1998). Sandia multispectral airborne lidar for UAV deployment

  4. Robotic reactions: delay-induced patterns in autonomous vehicle systems.

    PubMed

    Orosz, Gábor; Moehlis, Jeff; Bullo, Francesco

    2010-02-01

    Fundamental design principles are presented for vehicle systems governed by autonomous cruise control devices. By analyzing the corresponding delay differential equations, it is shown that for any car-following model short-wavelength oscillations can appear due to robotic reaction times, and that there are tradeoffs between the time delay and the control gains. The analytical findings are demonstrated on an optimal velocity model using numerical continuation and numerical simulation.

  5. Software Testbed for Developing and Evaluating Integrated Autonomous Systems

    DTIC Science & Technology

    2015-03-01

    978-1-4799-5380-6/15/$31.00 ©2015 IEEE 1 Software Testbed for Developing and Evaluating Integrated Autonomous Systems James Ong , Emilio...Remolina, Axel Prompt Stottler Henke Associates, Inc. 1670 S. Amphlett Blvd., suite 310 San Mateo, CA 94402 650-931-2700 ong , remolina, aprompt...www.stottlerhenke.com/datamontage/ [13] Ong , J., E. Remolina, D. E. Smith, M. S. Boddy (2013) A Visual Integrated Development Environment for Automated Planning

  6. Adapting the Law of Armed Conflict to Autonomous Weapon Systems

    DTIC Science & Technology

    2014-01-01

    decisions more controlled, espe- cially compared to human-soldier failings that are so often exacerbated by panic, vengeance or other emotions , as well...significant claims in Losing Humanity—that a fundamental objection to autonomous weapon systems is that they take these emotions out of battlefield...of human soldiers’ battle- field emotions , starting with fear, anger and vengeance, exacerbated under conditions of hunger, exposure, uncertainty and

  7. Control Problems in Autonomous Life Support Systems

    NASA Technical Reports Server (NTRS)

    Colombano, S.

    1982-01-01

    The problem of constructing life support systems which require little or no input of matter (food and gases) for long, or even indefinite, periods of time is addressed. Natural control in ecosystems, a control theory for ecosystems, and an approach to the design of an ALSS are addressed.

  8. Towards Co-Engineering Communicating Autonomous Cyber-Physical Systems

    NASA Technical Reports Server (NTRS)

    Bujorianu, Marius C.; Bujorianu, Manuela L.

    2009-01-01

    In this paper, we sketch a framework for interdisciplinary modeling of space systems, by proposing a holistic view. We consider different system dimensions and their interaction. Specifically, we study the interactions between computation, physics, communication, uncertainty and autonomy. The most comprehensive computational paradigm that supports a holistic perspective on autonomous space systems is given by cyber-physical systems. For these, the state of art consists of collaborating multi-engineering efforts that prompt for an adequate formal foundation. To achieve this, we propose a leveraging of the traditional content of formal modeling by a co-engineering process.

  9. Autonomous Robot System for Sensor Characterization

    SciTech Connect

    David Bruemmer; Douglas Few; Frank Carney; Miles Walton; Heather Hunting; Ron Lujan

    2004-03-01

    This paper discusses an innovative application of new Markov localization techniques that combat the problem of odometry drift, allowing a novel control architecture developed at the Idaho National Engineering and Environmental Laboratory (INEEL) to be utilized within a sensor characterization facility developed at the Remote Sensing Laboratory (RSL) in Nevada. The new robotic capability provided by the INEEL will allow RSL to test and evaluate a wide variety of sensors including radiation detection systems, machine vision systems, and sensors that can detect and track heat sources (e.g. human bodies, machines, chemical plumes). By accurately moving a target at varying speeds along designated paths, the robotic solution allows the detection abilities of a wide variety of sensors to be recorded and analyzed.

  10. Autonomous Systems and Robotics: 2000-2004

    NASA Technical Reports Server (NTRS)

    2004-01-01

    This custom bibliography from the NASA Scientific and Technical Information Program lists a sampling of records found in the NASA Aeronautics and Space Database. The scope of this topic includes technologies to monitor, maintain, and where possible, repair complex space systems. This area of focus is one of the enabling technologies as defined by NASA s Report of the President s Commission on Implementation of United States Space Exploration Policy, published in June 2004.

  11. Flight Control System Development for the BURRO Autonomous UAV

    NASA Technical Reports Server (NTRS)

    Colbourne, Jason D.; Frost, Chad R.; Tischler, Mark B.; Ciolani, Luigi; Sahai, Ranjana; Tomoshofski, Chris; LaMontagne, Troy; Rutkowski, Michael (Technical Monitor)

    2000-01-01

    Developing autonomous flying vehicles has been a growing field in aeronautical research within the last decade and will continue into the next century. With concerns about safety, size, and cost of manned aircraft, several autonomous vehicle projects are currently being developed; uninhabited rotorcraft offer solutions to requirements for hover, vertical take-off and landing, as well as slung load transportation capabilities. The newness of the technology requires flight control engineers to question what design approaches, control law architectures, and performance criteria apply to control law development and handling quality evaluation. To help answer these questions, this paper documents the control law design process for Kaman Aerospace BURRO project. This paper will describe the approach taken to design control laws and develop math models which will be used to convert the manned K-MAX into the BURRO autonomous rotorcraft. With the ability of the K-MAX to lift its own weight (6000 lb) the load significantly affects the dynamics of the system; the paper addresses the additional design requirements for slung load autonomous flight. The approach taken in this design was to: 1) generate accurate math models of the K-MAX helicopter with and without slung loads, 2) select design specifications that would deliver good performance as well as satisfy mission criteria, and 3) develop and tune the control system architecture to meet the design specs and mission criteria. An accurate math model was desired for control system development. The Comprehensive Identification from Frequency Responses (CIFER(R)) software package was used to identify a linear math model for unloaded and loaded flight at hover, 50 kts, and 100 kts. The results of an eight degree-of-freedom CIFER(R)-identified linear model for the unloaded hover flight condition are presented herein, and the identification of the two-body slung-load configuration is in progress.

  12. Autonomic nervous system correlates in movement observation and motor imagery

    PubMed Central

    Collet, C.; Di Rienzo, F.; El Hoyek, N.; Guillot, A.

    2013-01-01

    The purpose of the current article is to provide a comprehensive overview of the literature offering a better understanding of the autonomic nervous system (ANS) correlates in motor imagery (MI) and movement observation. These are two high brain functions involving sensori-motor coupling, mediated by memory systems. How observing or mentally rehearsing a movement affect ANS activity has not been extensively investigated. The links between cognitive functions and ANS responses are not so obvious. We will first describe the organization of the ANS whose main purposes are controlling vital functions by maintaining the homeostasis of the organism and providing adaptive responses when changes occur either in the external or internal milieu. We will then review how scientific knowledge evolved, thus integrating recent findings related to ANS functioning, and show how these are linked to mental functions. In turn, we will describe how movement observation or MI may elicit physiological responses at the peripheral level of the autonomic effectors, thus eliciting autonomic correlates to cognitive activity. Key features of this paper are to draw a step-by step progression from the understanding of ANS physiology to its relationships with high mental processes such as movement observation or MI. We will further provide evidence that mental processes are co-programmed both at the somatic and autonomic levels of the central nervous system (CNS). We will thus detail how peripheral physiological responses may be analyzed to provide objective evidence that MI is actually performed. The main perspective is thus to consider that, during movement observation and MI, ANS activity is an objective witness of mental processes. PMID:23908623

  13. On non-autonomous dynamical systems

    NASA Astrophysics Data System (ADS)

    Anzaldo-Meneses, A.

    2015-04-01

    In usual realistic classical dynamical systems, the Hamiltonian depends explicitly on time. In this work, a class of classical systems with time dependent nonlinear Hamiltonians is analyzed. This type of problems allows to find invariants by a family of Veronese maps. The motivation to develop this method results from the observation that the Poisson-Lie algebra of monomials in the coordinates and momenta is clearly defined in terms of its brackets and leads naturally to an infinite linear set of differential equations, under certain circumstances. To perform explicit analytic and numerical calculations, two examples are presented to estimate the trajectories, the first given by a nonlinear problem and the second by a quadratic Hamiltonian with three time dependent parameters. In the nonlinear problem, the Veronese approach using jets is shown to be equivalent to a direct procedure using elliptic functions identities, and linear invariants are constructed. For the second example, linear and quadratic invariants as well as stability conditions are given. Explicit solutions are also obtained for stepwise constant forces. For the quadratic Hamiltonian, an appropriated set of coordinates relates the geometric setting to that of the three dimensional manifold of central conic sections. It is shown further that the quantum mechanical problem of scattering in a superlattice leads to mathematically equivalent equations for the wave function, if the classical time is replaced by the space coordinate along a superlattice. The mathematical method used to compute the trajectories for stepwise constant parameters can be applied to both problems. It is the standard method in quantum scattering calculations, as known for locally periodic systems including a space dependent effective mass.

  14. On non-autonomous dynamical systems

    SciTech Connect

    Anzaldo-Meneses, A.

    2015-04-15

    In usual realistic classical dynamical systems, the Hamiltonian depends explicitly on time. In this work, a class of classical systems with time dependent nonlinear Hamiltonians is analyzed. This type of problems allows to find invariants by a family of Veronese maps. The motivation to develop this method results from the observation that the Poisson-Lie algebra of monomials in the coordinates and momenta is clearly defined in terms of its brackets and leads naturally to an infinite linear set of differential equations, under certain circumstances. To perform explicit analytic and numerical calculations, two examples are presented to estimate the trajectories, the first given by a nonlinear problem and the second by a quadratic Hamiltonian with three time dependent parameters. In the nonlinear problem, the Veronese approach using jets is shown to be equivalent to a direct procedure using elliptic functions identities, and linear invariants are constructed. For the second example, linear and quadratic invariants as well as stability conditions are given. Explicit solutions are also obtained for stepwise constant forces. For the quadratic Hamiltonian, an appropriated set of coordinates relates the geometric setting to that of the three dimensional manifold of central conic sections. It is shown further that the quantum mechanical problem of scattering in a superlattice leads to mathematically equivalent equations for the wave function, if the classical time is replaced by the space coordinate along a superlattice. The mathematical method used to compute the trajectories for stepwise constant parameters can be applied to both problems. It is the standard method in quantum scattering calculations, as known for locally periodic systems including a space dependent effective mass.

  15. Autonomous Control Capabilities for Space Reactor Power Systems

    NASA Astrophysics Data System (ADS)

    Wood, Richard T.; Neal, John S.; Brittain, C. Ray; Mullens, James A.

    2004-02-01

    The National Aeronautics and Space Administration's (NASA's) Project Prometheus, the Nuclear Systems Program, is investigating a possible Jupiter Icy Moons Orbiter (JIMO) mission, which would conduct in-depth studies of three of the moons of Jupiter by using a space reactor power system (SRPS) to provide energy for propulsion and spacecraft power for more than a decade. Terrestrial nuclear power plants rely upon varying degrees of direct human control and interaction for operations and maintenance over a forty to sixty year lifetime. In contrast, an SRPS is intended to provide continuous, remote, unattended operation for up to fifteen years with no maintenance. Uncertainties, rare events, degradation, and communications delays with Earth are challenges that SRPS control must accommodate. Autonomous control is needed to address these challenges and optimize the reactor control design. In this paper, we describe an autonomous control concept for generic SRPS designs. The formulation of an autonomous control concept, which includes identification of high-level functional requirements and generation of a research and development plan for enabling technologies, is among the technical activities that are being conducted under the U.S. Department of Energy's Space Reactor Technology Program in support of the NASA's Project Prometheus. The findings from this program are intended to contribute to the successful realization of the JIMO mission.

  16. Autonomous Control Capabilities for Space Reactor Power Systems

    SciTech Connect

    Wood, Richard T.; Neal, John S.; Brittain, C. Ray; Mullens, James A.

    2004-02-04

    The National Aeronautics and Space Administration's (NASA's) Project Prometheus, the Nuclear Systems Program, is investigating a possible Jupiter Icy Moons Orbiter (JIMO) mission, which would conduct in-depth studies of three of the moons of Jupiter by using a space reactor power system (SRPS) to provide energy for propulsion and spacecraft power for more than a decade. Terrestrial nuclear power plants rely upon varying degrees of direct human control and interaction for operations and maintenance over a forty to sixty year lifetime. In contrast, an SRPS is intended to provide continuous, remote, unattended operation for up to fifteen years with no maintenance. Uncertainties, rare events, degradation, and communications delays with Earth are challenges that SRPS control must accommodate. Autonomous control is needed to address these challenges and optimize the reactor control design. In this paper, we describe an autonomous control concept for generic SRPS designs. The formulation of an autonomous control concept, which includes identification of high-level functional requirements and generation of a research and development plan for enabling technologies, is among the technical activities that are being conducted under the U.S. Department of Energy's Space Reactor Technology Program in support of the NASA's Project Prometheus. The findings from this program are intended to contribute to the successful realization of the JIMO mission.

  17. Enabling autonomous control for space reactor power systems

    SciTech Connect

    Wood, R. T.

    2006-07-01

    The application of nuclear reactors for space power and/or propulsion presents some unique challenges regarding the operations and control of the power system. Terrestrial nuclear reactors employ varying degrees of human control and decision-making for operations and benefit from periodic human interaction for maintenance. In contrast, the control system of a space reactor power system (SRPS) employed for deep space missions must be able to accommodate unattended operations due to communications delays and periods of planetary occlusion while adapting to evolving or degraded conditions with no opportunity for repair or refurbishment. Thus, a SRPS control system must provide for operational autonomy. Oak Ridge National Laboratory (ORNL) has conducted an investigation of the state of the technology for autonomous control to determine the experience base in the nuclear power application domain, both for space and terrestrial use. It was found that control systems with varying levels of autonomy have been employed in robotic, transportation, spacecraft, and manufacturing applications. However, autonomous control has not been implemented for an operating terrestrial nuclear power plant nor has there been any experience beyond automating simple control loops for space reactors. Current automated control technologies for nuclear power plants are reasonably mature, and basic control for a SRPS is clearly feasible under optimum circumstances. However, autonomous control is primarily intended to account for the non optimum circumstances when degradation, failure, and other off-normal events challenge the performance of the reactor and near-term human intervention is not possible. Thus, the development and demonstration of autonomous control capabilities for the specific domain of space nuclear power operations is needed. This paper will discuss the findings of the ORNL study and provide a description of the concept of autonomy, its key characteristics, and a prospective

  18. System safety analysis of an autonomous mobile robot

    SciTech Connect

    Bartos, R.J.

    1994-08-01

    Analysis of the safety of operating and maintaining the Stored Waste Autonomous Mobile Inspector (SWAMI) II in a hazardous environment at the Fernald Environmental Management Project (FEMP) was completed. The SWAMI II is a version of a commercial robot, the HelpMate{trademark} robot produced by the Transitions Research Corporation, which is being updated to incorporate the systems required for inspecting mixed toxic chemical and radioactive waste drums at the FEMP. It also has modified obstacle detection and collision avoidance subsystems. The robot will autonomously travel down the aisles in storage warehouses to record images of containers and collect other data which are transmitted to an inspector at a remote computer terminal. A previous study showed the SWAMI II has economic feasibility. The SWAMI II will more accurately locate radioactive contamination than human inspectors. This thesis includes a System Safety Hazard Analysis and a quantitative Fault Tree Analysis (FTA). The objectives of the analyses are to prevent potentially serious events and to derive a comprehensive set of safety requirements from which the safety of the SWAMI II and other autonomous mobile robots can be evaluated. The Computer-Aided Fault Tree Analysis (CAFTA{copyright}) software is utilized for the FTA. The FTA shows that more than 99% of the safety risk occurs during maintenance, and that when the derived safety requirements are implemented the rate of serious events is reduced to below one event per million operating hours. Training and procedures in SWAMI II operation and maintenance provide an added safety margin. This study will promote the safe use of the SWAMI II and other autonomous mobile robots in the emerging technology of mobile robotic inspection.

  19. Autonomous system for pathogen detection and identification

    SciTech Connect

    Belgrader, P.; Benett, W.; Bergman, W.; Langlois, R.; Mariella, R.; Milanovich, F.; Miles, R.; Venkateswaran, K.; Long, G.; Nelson, W.

    1998-09-24

    This purpose of this project is to build a prototype instrument that will, running unattended, detect, identify, and quantify BW agents. In order to accomplish this, we have chosen to start with the world' s leading, proven, assays for pathogens: surface-molecular recognition assays, such as antibody-based assays, implemented on a high-performance, identification (ID)-capable flow cytometer, and the polymerase chain reaction (PCR) for nucleic-acid based assays. With these assays, we must integrate the capability to: l collect samples from aerosols, water, or surfaces; l perform sample preparation prior to the assays; l incubate the prepared samples, if necessary, for a period of time; l transport the prepared, incubated samples to the assays; l perform the assays; l interpret and report the results of the assays. Issues such as reliability, sensitivity and accuracy, quantity of consumables, maintenance schedule, etc. must be addressed satisfactorily to the end user. The highest possible sensitivity and specificity of the assay must be combined with no false alarms. Today, we have assays that can, in under 30 minutes, detect and identify simulants for BW agents at concentrations of a few hundred colony-forming units per ml of solution. If the bio-aerosol sampler of this system collects 1000 Ymin and concentrates the respirable particles into 1 ml of solution with 70% processing efficiency over a period of 5 minutes, then this translates to a detection/ID capability of under 0.1 agent-containing particle/liter of air.

  20. Effect of operation parameters on the flux stabilization of gravity-driven membrane (GDM) filtration system for decentralized water supply.

    PubMed

    Tang, Xiaobin; Ding, An; Qu, Fangshu; Jia, Ruibao; Chang, Haiqing; Cheng, Xiaoxiang; Liu, Bin; Li, Guibai; Liang, Heng

    2016-08-01

    A pilot-scale gravity-driven membrane (GDM) filtration system under low gravitational pressure without any pre-treatment, backwash, flushing, or chemical cleaning was carried out to investigate the effect of operation parameters (including operation pressure, aeration mode, and intermittent filtration) on the effluent quality and permeability development. The results revealed that GDM system exhibited an efficient performance for the removal of suspended substances and organic compounds. The stabilization of flux occurred and the average values of stable flux were 6.6, 8.1, and 8.6 Lm(-2) h(-1) for pressures of 65, 120, and 200 mbar, respectively. In contrast, flux stabilization was not observed under continuous and intermittent aeration conditions. However, aeration (especially continuous aeration) was effective to improve flux and alleviate membrane fouling during 1-month operation. Moreover, intermittent filtration would influence the stabilization of permeate flux, resulting in a higher stable flux (ranging from 6 to 13 Lm(-2) h(-1)). The stable flux significantly improved with the increase of intermittent period. Additionally, GDM systems exhibited an efficient recovery of flux after simple physical cleaning and the analyses of resistance reversibility demonstrated that most of the total resistance was hydraulic reversible resistance (50-75 %). Therefore, it is expected that the results of this study can develop strategies to increase membrane permeability and reduce energy consumption in GDM systems for decentralized water supply.

  1. Autonomous and Autonomic Swarms

    NASA Technical Reports Server (NTRS)

    Hinchey, Michael G.; Rash, James L.; Truszkowski, Walter F.; Rouff, Christopher A.; Sterritt, Roy

    2005-01-01

    A watershed in systems engineering is represented by the advent of swarm-based systems that accomplish missions through cooperative action by a (large) group of autonomous individuals each having simple capabilities and no global knowledge of the group s objective. Such systems, with individuals capable of surviving in hostile environments, pose unprecedented challenges to system developers. Design and testing and verification at much higher levels will be required, together with the corresponding tools, to bring such systems to fruition. Concepts for possible future NASA space exploration missions include autonomous, autonomic swarms. Engineering swarm-based missions begins with understanding autonomy and autonomicity and how to design, test, and verify systems that have those properties and, simultaneously, the capability to accomplish prescribed mission goals. Formal methods-based technologies, both projected and in development, are described in terms of their potential utility to swarm-based system developers.

  2. Brain, mind, body and society: autonomous system in robotics.

    PubMed

    Shimoda, Motomu

    2013-12-01

    In this paper I examine the issues related to the robot with mind. To create a robot with mind aims to recreate neuro function by engineering. The robot with mind is expected not only to process external information by the built-in program and behave accordingly, but also to gain the consciousness activity responding multiple conditions and flexible and interactive communication skills coping with unknown situation. That prospect is based on the development of artificial intelligence in which self-organizing and self-emergent functions have been available in recent years. To date, controllable aspects in robotics have been restricted to data making and programming of cognitive abilities, while consciousness activities and communication skills have been regarded as uncontrollable aspects due to their contingency and uncertainty. However, some researchers of robotics claim that every activity of the mind can be recreated by engineering and is therefore controllable. Based on the development of the cognitive abilities of children and the findings of neuroscience, researchers have attempted to produce the latest artificial intelligence with autonomous learning systems. I conclude that controllability is inconsistent with autonomy in the genuine sense and autonomous robots recreated by engineering cannot be autonomous partners of humans.

  3. System control of an autonomous planetary mobile spacecraft

    NASA Technical Reports Server (NTRS)

    Dias, William C.; Zimmerman, Barbara A.

    1990-01-01

    The goal is to suggest the scheduling and control functions necessary for accomplishing mission objectives of a fairly autonomous interplanetary mobile spacecraft, while maximizing reliability. Goals are to provide an extensible, reliable system conservative in its use of on-board resources, while getting full value from subsystem autonomy, and avoiding the lure of ground micromanagement. A functional layout consisting of four basic elements is proposed: GROUND and SYSTEM EXECUTIVE system functions and RESOURCE CONTROL and ACTIVITY MANAGER subsystem functions. The system executive includes six subfunctions: SYSTEM MANAGER, SYSTEM FAULT PROTECTION, PLANNER, SCHEDULE ADAPTER, EVENT MONITOR and RESOURCE MONITOR. The full configuration is needed for autonomous operation on Moon or Mars, whereas a reduced version without the planning, schedule adaption and event monitoring functions could be appropriate for lower-autonomy use on the Moon. An implementation concept is suggested which is conservative in use of system resources and consists of modules combined with a network communications fabric. A language concept termed a scheduling calculus for rapidly performing essential on-board schedule adaption functions is introduced.

  4. Hepatic Control of Energy Metabolism via the Autonomic Nervous System

    PubMed Central

    2017-01-01

    Although the human liver comprises approximately 2.8% of the body weight, it plays a central role in the control of energy metabolism. While the biochemistry of energy substrates such as glucose, fatty acids, and ketone bodies in the liver is well understood, many aspects of the overall control system for hepatic metabolism remain largely unknown. These include mechanisms underlying the ascertainment of its energy metabolism status by the liver, and the way in which this information is used to communicate and function together with adipose tissues and other organs involved in energy metabolism. This review article summarizes hepatic control of energy metabolism via the autonomic nervous system. PMID:27592630

  5. Component-Oriented Behavior Extraction for Autonomic System Design

    NASA Technical Reports Server (NTRS)

    Bakera, Marco; Wagner, Christian; Margaria,Tiziana; Hinchey, Mike; Vassev, Emil; Steffen, Bernhard

    2009-01-01

    Rich and multifaceted domain specific specification languages like the Autonomic System Specification Language (ASSL) help to design reliable systems with self-healing capabilities. The GEAR game-based Model Checker has been used successfully to investigate properties of the ESA Exo- Mars Rover in depth. We show here how to enable GEAR s game-based verification techniques for ASSL via systematic model extraction from a behavioral subset of the language, and illustrate it on a description of the Voyager II space mission.

  6. Using Robotic Operating System (ROS) to control autonomous observatories

    NASA Astrophysics Data System (ADS)

    Vilardell, Francesc; Artigues, Gabriel; Sanz, Josep; García-Piquer, Álvaro; Colomé, Josep; Ribas, Ignasi

    2016-07-01

    Astronomical observatories are complex systems requiring the integration of numerous devices into a common platform. We are presenting here the firsts steps to integrate the popular Robotic Operating System (ROS) into the control of a fully autonomous observatory. The observatory is also equipped with a decision-making procedure that can automatically react to a changing environment (like weather events). The results obtained so far have shown that the automation of a small observatory can be greatly simplified when using ROS, as well as robust, with the implementation of our decision-making algorithms.

  7. TOPEX/Poseidon electrical power system -- Autonomous operation

    SciTech Connect

    Chetty, P.R.K.; Richardson, R.; Sherwood, R.; Deligiannis, F.

    1996-12-31

    The main objective of the TOPEX/Poseidon Satellite is to monitor the world`s oceans for scientific study of weather and climate prediction, coastal storm warning and maritime safety. The operational conditions of this satellite imposed challenging requirements for the on-board Electrical Power System (EPS). The power system is designed to maintain a certain level of autonomy. This paper presents the autonomous operations planned, their on-orbit performance and how some of the operations were modified as certain unpredictable circumstances were discovered.

  8. Reliable Output Feedback Control for T-S Fuzzy Systems With Decentralized Event Triggering Communication and Actuator Failures.

    PubMed

    Zhang, Changzhu; Hu, Jinfei; Qiu, Jianbin; Chen, Qijun

    2017-02-23

    Due to the unavailability of full state variables in many control systems, this paper is concerned with the design of reliable observer-based output feedback controller for a class of network-based Takagi-Sugeno fuzzy systems with actuator failures. In order to better allocate network resources under the case that the sensor nodes are physically distributed, the decentralized event triggering communication scheme is adopted such that each sensor node is capable to determine the transmission of its local measurement information independently. Considering that the implementation of the controller may not be synchronized with the plant trajectories due to asynchronous premise variables with such communication mechanism, a novel piecewise fuzzy observer-based output feedback controller is developed. By applying a piecewise Lyapunov function and some techniques on matrix convexification, an approach to the design of observer and controller gain is derived for the augmented closed-loop system to be asymptotically stable with a guaranteed H∞ performance and reduced transmission frequency. Finally, two examples are given to show the effectiveness of the developed method.

  9. Systems, methods and apparatus for quiesence of autonomic safety devices with self action

    NASA Technical Reports Server (NTRS)

    Hinchey, Michael G. (Inventor); Sterritt, Roy (Inventor)

    2011-01-01

    Systems, methods and apparatus are provided through which in some embodiments an autonomic environmental safety device may be quiesced. In at least one embodiment, a method for managing an autonomic safety device, such as a smoke detector, based on functioning state and operating status of the autonomic safety device includes processing received signals from the autonomic safety device to obtain an analysis of the condition of the autonomic safety device, generating one or more stay-awake signals based on the functioning status and the operating state of the autonomic safety device, transmitting the stay-awake signal, transmitting self health/urgency data, and transmitting environment health/urgency data. A quiesce component of an autonomic safety device can render the autonomic safety device inactive for a specific amount of time or until a challenging situation has passed.

  10. Knowledge-based and integrated monitoring and diagnosis in autonomous power systems

    NASA Technical Reports Server (NTRS)

    Momoh, J. A.; Zhang, Z. Z.

    1990-01-01

    A new technique of knowledge-based and integrated monitoring and diagnosis (KBIMD) to deal with abnormalities and incipient or potential failures in autonomous power systems is presented. The KBIMD conception is discussed as a new function of autonomous power system automation. Available diagnostic modelling, system structure, principles and strategies are suggested. In order to verify the feasibility of the KBIMD, a preliminary prototype expert system is designed to simulate the KBIMD function in a main electric network of the autonomous power system.

  11. Human Centered Autonomous and Assistant Systems Testbed for Exploration Operations

    NASA Technical Reports Server (NTRS)

    Malin, Jane T.; Mount, Frances; Carreon, Patricia; Torney, Susan E.

    2001-01-01

    The Engineering and Mission Operations Directorates at NASA Johnson Space Center are combining laboratories and expertise to establish the Human Centered Autonomous and Assistant Systems Testbed for Exploration Operations. This is a testbed for human centered design, development and evaluation of intelligent autonomous and assistant systems that will be needed for human exploration and development of space. This project will improve human-centered analysis, design and evaluation methods for developing intelligent software. This software will support human-machine cognitive and collaborative activities in future interplanetary work environments where distributed computer and human agents cooperate. We are developing and evaluating prototype intelligent systems for distributed multi-agent mixed-initiative operations. The primary target domain is control of life support systems in a planetary base. Technical approaches will be evaluated for use during extended manned tests in the target domain, the Bioregenerative Advanced Life Support Systems Test Complex (BIO-Plex). A spinoff target domain is the International Space Station (ISS) Mission Control Center (MCC). Prodl}cts of this project include human-centered intelligent software technology, innovative human interface designs, and human-centered software development processes, methods and products. The testbed uses adjustable autonomy software and life support systems simulation models from the Adjustable Autonomy Testbed, to represent operations on the remote planet. Ground operations prototypes and concepts will be evaluated in the Exploration Planning and Operations Center (ExPOC) and Jupiter Facility.

  12. Measuring cardiac autonomic nervous system (ANS) activity in children.

    PubMed

    van Dijk, Aimée E; van Lien, René; van Eijsden, Manon; Gemke, Reinoud J B J; Vrijkotte, Tanja G M; de Geus, Eco J

    2013-04-29

    The autonomic nervous system (ANS) controls mainly automatic bodily functions that are engaged in homeostasis, like heart rate, digestion, respiratory rate, salivation, perspiration and renal function. The ANS has two main branches: the sympathetic nervous system, preparing the human body for action in times of danger and stress, and the parasympathetic nervous system, which regulates the resting state of the body. ANS activity can be measured invasively, for instance by radiotracer techniques or microelectrode recording from superficial nerves, or it can be measured non-invasively by using changes in an organ's response as a proxy for changes in ANS activity, for instance of the sweat glands or the heart. Invasive measurements have the highest validity but are very poorly feasible in large scale samples where non-invasive measures are the preferred approach. Autonomic effects on the heart can be reliably quantified by the recording of the electrocardiogram (ECG) in combination with the impedance cardiogram (ICG), which reflects the changes in thorax impedance in response to respiration and the ejection of blood from the ventricle into the aorta. From the respiration and ECG signals, respiratory sinus arrhythmia can be extracted as a measure of cardiac parasympathetic control. From the ECG and the left ventricular ejection signals, the preejection period can be extracted as a measure of cardiac sympathetic control. ECG and ICG recording is mostly done in laboratory settings. However, having the subjects report to a laboratory greatly reduces ecological validity, is not always doable in large scale epidemiological studies, and can be intimidating for young children. An ambulatory device for ECG and ICG simultaneously resolves these three problems. Here, we present a study design for a minimally invasive and rapid assessment of cardiac autonomic control in children, using a validated ambulatory device (1-5), the VU University Ambulatory Monitoring System (VU

  13. Distributed autonomous systems: resource management, planning, and control algorithms

    NASA Astrophysics Data System (ADS)

    Smith, James F., III; Nguyen, ThanhVu H.

    2005-05-01

    Distributed autonomous systems, i.e., systems that have separated distributed components, each of which, exhibit some degree of autonomy are increasingly providing solutions to naval and other DoD problems. Recently developed control, planning and resource allocation algorithms for two types of distributed autonomous systems will be discussed. The first distributed autonomous system (DAS) to be discussed consists of a collection of unmanned aerial vehicles (UAVs) that are under fuzzy logic control. The UAVs fly and conduct meteorological sampling in a coordinated fashion determined by their fuzzy logic controllers to determine the atmospheric index of refraction. Once in flight no human intervention is required. A fuzzy planning algorithm determines the optimal trajectory, sampling rate and pattern for the UAVs and an interferometer platform while taking into account risk, reliability, priority for sampling in certain regions, fuel limitations, mission cost, and related uncertainties. The real-time fuzzy control algorithm running on each UAV will give the UAV limited autonomy allowing it to change course immediately without consulting with any commander, request other UAVs to help it, alter its sampling pattern and rate when observing interesting phenomena, or to terminate the mission and return to base. The algorithms developed will be compared to a resource manager (RM) developed for another DAS problem related to electronic attack (EA). This RM is based on fuzzy logic and optimized by evolutionary algorithms. It allows a group of dissimilar platforms to use EA resources distributed throughout the group. For both DAS types significant theoretical and simulation results will be presented.

  14. Partially decentralized control for ALSTOM gasifier.

    PubMed

    Tan, Wen; Lou, Guannan; Liang, Luping

    2011-07-01

    The gasifier plays a key role in the operation of the whole IGCC power plant. It is a typical multivariable control system with strict constraints on the inputs and outputs which makes it very difficult to control. This paper presents a partially decentralized controller design method based on the stabilizer idea. The method only requires identifying some closed-loop transfer functions and solving an H(∞) optimization problem. The final partially decentralized controller is easy to implement and test in practice. Two partially decentralized controllers are designed for the ALSTOM gasifier benchmark problem, and simulation results show that they both meet the design specifications.

  15. Autonomic nervous system testing may not distinguish multiple system atrophy from Parkinson's disease

    PubMed Central

    Riley, D; Chelimsky, T

    2003-01-01

    Background: Formal laboratory testing of autonomic function is reported to distinguish between patients with Parkinson's disease and those with multiple system atrophy (MSA), but such studies segregate patients according to clinical criteria that select those with autonomic dysfunction for the MSA category. Objective: To characterise the profiles of autonomic disturbances in patients in whom the diagnosis of Parkinson's disease or MSA used criteria other than autonomic dysfunction. Methods: 47 patients with parkinsonism and autonomic symptoms who had undergone autonomic laboratory testing were identified and their case records reviewed for non-autonomic features. They were classified clinically into three diagnostic groups: Parkinson's disease (19), MSA (14), and uncertain (14). The performance of the patients with Parkinson's disease was compared with that of the MSA patients on five autonomic tests: RR variation on deep breathing, heart rate changes with the Valsalva manoeuvre, tilt table testing, the sudomotor axon reflex test, and thermoregulatory sweat testing. Results: None of the tests distinguished one group from the other with any statistical significance, alone or in combination. Parkinson's disease and MSA patients showed similar patterns of autonomic dysfunction on formal testing of cardiac sympathetic and parasympathetic, vasomotor, and central and peripheral sudomotor functions. Conclusions: This study supports the clinical observation that Parkinson's disease is often indistinguishable from MSA when it involves the autonomic nervous system. The clinical combination of parkinsonism and dysautonomia is as likely to be caused by Parkinson's disease as by MSA. Current clinical criteria for Parkinson's disease and MSA that direct patients with dysautonomia into the MSA group may be inappropriate. PMID:12486267

  16. Autonomous Operation of the Nanosatellite URSA MAIOR Micropropulsion System

    NASA Astrophysics Data System (ADS)

    Santoni, F.

    Università degli Studi di Roma "La Sapienza", Scuola di Ingegneria Aerospaziale, Via Eudossiana 16, 00184 At Università di Roma "La Sapienza" a nanosatellite bus is under development, with one liter target volume and one kilogram target weight. This nanosatellite, called URSA MAIOR (Università di Roma "la SApienza" Micro Autonomous Imager in ORbit) has a micro camera on board to take pictures of the Earth. The nanosatellite is three axis stabilized, using a micro momentum wheel, with magnetic coils for active nutation damping and pointing control. An experimental micropropulsion system is present on-board, together with the magnetic attitude control system. The design, construction and testing of the satellite is carried on by academic personnel and by students, which are directly involved in the whole process, as it is in the spirit of in the microsatellite program at Università di Roma "La Sapienza". Few technological payloads are present on-board: an Earth imaging experiment, using a few grams commercial-off-the-shelf microcamera; commercial Li-Ion batteries are the only energy storage device; a microwheel developed at our University laboratories provides for attitude stabilization. In addition, a micropropulsion experiment is planned on-board. The Austrian Company Mechatronic, and INFM, an Italian Research Institute at Trieste are developing a microthruster for nanosatelite applications. In the frame of a cooperation established between these two Institutions and Università di Roma "La Sapienza", this newly developed hardware will be tested in orbit. The thruster is made basically of an integrated microvalve, built on a silicon chip, and a micronozzle, etched on the same silicon chip, to get supersonic expansion of the gas flow. The nominal thrust of the system is about 100microN. The throat section is about 100 micron diameter. The first phase in the construction of the microthruster has been the construction of the micronozzle on a silicon chip. A

  17. G2 Autonomous Control for Cryogenic Delivery Systems

    NASA Technical Reports Server (NTRS)

    Dito, Scott J.

    2014-01-01

    The Independent System Health Management-Autonomous Control (ISHM-AC) application development for cryogenic delivery systems is intended to create an expert system that will require minimal operator involvement and ultimately allow for complete autonomy when fueling a space vehicle in the time prior to launch. The G2-Autonomous Control project is the development of a model, simulation, and ultimately a working application that will control and monitor the cryogenic fluid delivery to a rocket for testing purposes. To develop this application, the project is using the programming language/environment Gensym G2. The environment is an all-inclusive application that allows development, testing, modeling, and finally operation of the unique application through graphical and programmatic methods. We have learned G2 through training classes and subsequent application development, and are now in the process of building the application that will soon be used to test on cryogenic loading equipment here at the Kennedy Space Center Cryogenics Test Laboratory (CTL). The G2 ISHM-AC application will bring with it a safer and more efficient propellant loading system for the future launches at Kennedy Space Center and eventually mobile launches from all over the world.

  18. The Spacecraft Emergency Response System (SERS) for Autonomous Mission Operations

    NASA Technical Reports Server (NTRS)

    Breed, Julia; Chu, Kai-Dee; Baker, Paul; Starr, Cynthia; Fox, Jeffrey; Baitinger, Mick

    1998-01-01

    Today, most mission operations are geared toward lowering cost through unmanned operations. 7-day/24-hour operations are reduced to either 5-day/8-hour operations or become totally autonomous, especially for deep-space missions. Proper and effective notification during a spacecraft emergency could mean success or failure for an entire mission. The Spacecraft Emergency Response System (SERS) is a tool designed for autonomous mission operations. The SERS automatically contacts on-call personnel as needed when crises occur, either on-board the spacecraft or within the automated ground systems. Plus, the SERS provides a group-ware solution to facilitate the work of the person(s) contacted. The SERS is independent of the spacecraft's automated ground system. It receives and catalogues reports for various ground system components in near real-time. Then, based on easily configurable parameters, the SERS determines whom, if anyone, should be alerted. Alerts may be issued via Sky-Tel 2-way pager, Telehony, or e-mail. The alerted personnel can then review and respond to the spacecraft anomalies through the Netscape Internet Web Browser, or directly review and respond from the Sky-Tel 2-way pager.

  19. Autonomous Pathogen Detection System - FY02 Annual Progress Report

    SciTech Connect

    Colston, B; Brown, S; Burris, K; Elkin, C; Hindson, B; Langlois, R; Masquelier, D; McBride, M; Metz, T; Nasarabadi, S; Makarewicz, T; Milznovich, F; Venkateswaran, K S; Visuri, S

    2002-11-11

    The objective of this project is to design, fabricate and field demonstrate a biological agent detection and identification capability, the Autonomous Pathogen Detector System (APDS). Integrating a flow cytometer and real-time polymerase chain reaction (PCR) detector with sample collection, sample preparation and fluidics will provide a compact, autonomously operating instrument capable of simultaneously detecting multiple pathogens and/or toxins. The APDS will operate in fixed locations, continuously monitoring air samples and automatically reporting the presence of specific biological agents. The APDS will utilize both multiplex immunoassays and nucleic acid assays to provide ''quasi-orthogonal'' multiple agent detection approaches to minimize false positives and increase the reliability of identification. Technical advances across several fronts must occur, however, to realize the full extent of the APDS. The end goal of a commercially available system for civilian biological weapon defense will be accomplished through three progressive generations of APDS instruments. The APDS is targeted for civilian applications in which the public is at high risk of exposure to covert releases of bioagent, such as major subway systems and other transportation terminals, large office complexes and convention centers. APDS is also designed to be part of a monitoring network of sensors integrated with command and control systems for wide-area monitoring of urban areas and major public gatherings. In this latter application there is potential that a fully developed APDS could add value to DoD monitoring architectures.

  20. A Model-Driven Architecture Approach for Modeling, Specifying and Deploying Policies in Autonomous and Autonomic Systems

    NASA Technical Reports Server (NTRS)

    Pena, Joaquin; Hinchey, Michael G.; Sterritt, Roy; Ruiz-Cortes, Antonio; Resinas, Manuel

    2006-01-01

    Autonomic Computing (AC), self-management based on high level guidance from humans, is increasingly gaining momentum as the way forward in designing reliable systems that hide complexity and conquer IT management costs. Effectively, AC may be viewed as Policy-Based Self-Management. The Model Driven Architecture (MDA) approach focuses on building models that can be transformed into code in an automatic manner. In this paper, we look at ways to implement Policy-Based Self-Management by means of models that can be converted to code using transformations that follow the MDA philosophy. We propose a set of UML-based models to specify autonomic and autonomous features along with the necessary procedures, based on modification and composition of models, to deploy a policy as an executing system.

  1. Comparison between thermodynamic work and heat in autonomous quantum systems.

    PubMed

    Xu, Y Y

    2016-12-01

    One of the most important problems in quantum thermodynamics is how to distinguish work and heat in autonomous quantum systems. In this paper, work and heat are defined through the following criterion, i.e., work is the energy that cannot change the entropy of the energy resource, and satisfies the Jarzynski equality, while heat does not. Two kinds of definitions satisfying the two corresponding requirements are proposed and demonstrated, and the consistency condition of the two kinds is given. Through the first definition, the problem of entropy production is investigated. A model study is also presented to verify the proposal.

  2. Analysis of water in Autonomous Biological Systems (ABS) samples.

    PubMed

    Ishikawa, Y; Kobayashi, K; Seki, K; Mizutani, H; Kawasaki, Y; Koike, J; Ijiri, K; Yamashita, M; Sugiura, K; Poynter, J; MacCallum, T; Anderson, G

    1998-12-01

    Several soluble components, peptidase and amino acids, and carbon isotopic ratio in the water retrieved from flight experiments of Autonomous Biological Systems (ABS) as well as ground control samples are analyzed to interpret the condition, dynamics, material balance of the ABS ecosystems. Organic carbons in flight samples were found to be more abundant compared with the control ones, which suggested the uniform ecosystems in low gravity might easily dissolve more soluble components. The Mir-1997 flight sample showed higher C/N ratio probably because of the dissolution of carbon-rich plant materials.

  3. Autonomous, teleoperated, and shared control of robot systems

    SciTech Connect

    Anderson, R.J.

    1994-12-31

    This paper illustrates how different modes of operation such as bilateral teleoperation, autonomous control, and shared control can be described and implemented using combinations of modules in the SMART robot control architecture. Telerobotics modes are characterized by different ``grids`` of SMART icons, where each icon represents a portion of run-time code that implements a passive control law. By placing strict requirements on the module`s input-output behavior and using scattering theory to develop a passive sampling technique, a flexible, expandable telerobot architecture is achieved. An automatic code generation tool for generating SMART systems is also described.

  4. Comparison between thermodynamic work and heat in autonomous quantum systems

    NASA Astrophysics Data System (ADS)

    Xu, Y. Y.

    2016-12-01

    One of the most important problems in quantum thermodynamics is how to distinguish work and heat in autonomous quantum systems. In this paper, work and heat are defined through the following criterion, i.e., work is the energy that cannot change the entropy of the energy resource, and satisfies the Jarzynski equality, while heat does not. Two kinds of definitions satisfying the two corresponding requirements are proposed and demonstrated, and the consistency condition of the two kinds is given. Through the first definition, the problem of entropy production is investigated. A model study is also presented to verify the proposal.

  5. Autonomous Robotic Refueling System (ARRS) for rapid aircraft turnaround

    NASA Astrophysics Data System (ADS)

    Williams, O. R.; Jackson, E.; Rueb, K.; Thompson, B.; Powell, K.

    An autonomous robotic refuelling system is being developed to achieve rapid aircraft turnaround, notably during combat operations. The proposed system includes a gantry positioner with sufficient reach to position a robotic arm that performs the refuelling tasks; a six degree of freedom manipulator equipped with a remote center of compliance, torque sensor, and a gripper that can handle standard tools; a computer vision system to locate and guide the refuelling nozzle, inspect the nozzle, and avoid collisions; and an operator interface with video and graphics display. The control system software will include components designed for trajectory planning and generation, collision detection, sensor interfacing, sensory processing, and human interfacing. The robotic system will be designed so that upgrading to perform additional tasks will be relatively straightforward.

  6. Concluding remarks of Autonomous Biological Systems (ABS) experiments.

    PubMed

    Ishikawa, Y; Kobayashi, K; Mizutani, H; Kawasaki, Y; Koike, J; Ijiri, K; Yamashita, M; Sugiura, K; Poynter, J; MacCallum, T; Anderson, G

    1998-12-01

    Team efforts for analysis on the Autonomous Biological Systems (ABS) space experiments are summarized here to conclude scientific findings, and to scope the extended studies in future. From the three experiments on Space Shuttle and Space Station Mir, a closed ecological system modeled by the ABS was verified to be capable of sustaining its members of animals and plants under space environment for a period of several months. The animals successfully completed their life cycle in space during the course of these experiments, this was the first time that the life cycle of higher organisms had been completed in space and ecological system. Importance of gravity for ecology was proven at the same time. Gravity is a dominant factor for ecology by formulating spatial patterns and distribution of members of ecological system. Under microgravity, the fate of ecological system was found highly sensitive against the variation of environmental factor, such as light illumination cycle.

  7. Design and realization of an autonomous solar system

    NASA Astrophysics Data System (ADS)

    Gaga, A.; Diouri, O.; Es-sbai, N.; Errahimi, F.

    2017-03-01

    The aim of this work is the design and realization of an autonomous solar system, with MPPT control, a regulator charge/discharge of batteries, an H-bridge multi-level inverter with acquisition system and supervising based on a microcontroller. The proposed approach is based on developing a software platform in the LabVIEW environment which gives the system a flexible structure for controlling, monitoring and supervising the whole system in real time while providing power maximization and best quality of energy conversion from DC to AC power. The reliability of the proposed solar system is validated by the simulation results on PowerSim and experimental results achieved with a solar panel, a Lead acid battery, solar regulator and an H-bridge cascaded topology of single-phase inverter.

  8. Efficient decentralized iterative learning tracker for unknown sampled-data interconnected large-scale state-delay system with closed-loop decoupling property.

    PubMed

    Tsai, Jason Sheng-Hong; Chen, Fu-Ming; Yu, Tze-Yu; Guo, Shu-Mei; Shieh, Leang-San

    2012-01-01

    In this paper, an efficient decentralized iterative learning tracker is proposed to improve the dynamic performance of the unknown controllable and observable sampled-data interconnected large-scale state-delay system, which consists of N multi-input multi-output (MIMO) subsystems, with the closed-loop decoupling property. The off-line observer/Kalman filter identification (OKID) method is used to obtain the decentralized linear models for subsystems in the interconnected large-scale system. In order to get over the effect of modeling error on the identified linear model of each subsystem, an improved observer with the high-gain property based on the digital redesign approach is developed to replace the observer identified by OKID. Then, the iterative learning control (ILC) scheme is integrated with the high-gain tracker design for the decentralized models. To significantly reduce the iterative learning epochs, a digital-redesign linear quadratic digital tracker with the high-gain property is proposed as the initial control input of ILC. The high-gain property controllers can suppress uncertain errors such as modeling errors, nonlinear perturbations, and external disturbances (Guo et al., 2000) [18]. Thus, the system output can quickly and accurately track the desired reference in one short time interval after all drastically-changing points of the specified reference input with the closed-loop decoupling property.

  9. Non-autonomous lattice systems with switching effects and delayed recovery

    NASA Astrophysics Data System (ADS)

    Han, Xiaoying; Kloeden, Peter E.

    2016-09-01

    The long term behavior of a type of non-autonomous lattice dynamical systems is investigated, where these have a diffusive nearest neighborhood interaction and discontinuous reaction terms with recoverable delays. This problem is of both biological and mathematical interests, due to its application in systems of excitable cells as well as general biological systems involving delayed recovery. The problem is formulated as an evolution inclusion with delays and the existence of weak and strong solutions is established. It is then shown that the solutions generate a set-valued non-autonomous dynamical system and that this non-autonomous dynamical system possesses a non-autonomous global pullback attractor.

  10. Autonomously acquiring declarative and procedural knowledge for ICAT systems

    NASA Technical Reports Server (NTRS)

    Kovarik, Vincent J., Jr.

    1993-01-01

    The construction of Intelligent Computer Aided Training (ICAT) systems is critically dependent on the ability to define and encode knowledge. This knowledge engineering effort can be broadly divided into two categories: domain knowledge and expert or task knowledge. Domain knowledge refers to the physical environment or system with which the expert interacts. Expert knowledge consists of the set of procedures and heuristics employed by the expert in performing their task. Both these areas are a significant bottleneck in the acquisition of knowledge for ICAT systems. This paper presents a research project in the area of autonomous knowledge acquisition using a passive observation concept. The system observes an expert and then generalizes the observations into production rules representing the domain expert's knowledge.

  11. Reliability assessment of autonomous power systems incorporating HVDC interconnection links

    SciTech Connect

    Dialynas, E.N.; Koskolos, N.C.; Agoris, D.

    1996-01-01

    The objective of this paper is to present an improved computational method for the overall reliability assessment of autonomous power systems that may or may not contain HVdc interconnection links. This is a hybrid method based on a Monte-Carlo simulation sequential approach which incorporates an analytical approach for the reliability modeling of the HVdc transmission links. The developed models and techniques have been implemented into a computer program that can be used to simulate the operational practices and characteristics of the overall system under study efficiently and realistically. A set of reliability indices are calculated for each load-point of interest and the entire system while a set of additional indices is calculated for quantifying the reliability performance of the interconnection links under the specified operating requirements. The analysis of a practical system is also included for a number of studies representing its various operating and design characteristics.

  12. Method and system for providing autonomous control of a platform

    NASA Technical Reports Server (NTRS)

    Seelinger, Michael J. (Inventor); Yoder, John-David (Inventor)

    2012-01-01

    The present application provides a system for enabling instrument placement from distances on the order of five meters, for example, and increases accuracy of the instrument placement relative to visually-specified targets. The system provides precision control of a mobile base of a rover and onboard manipulators (e.g., robotic arms) relative to a visually-specified target using one or more sets of cameras. The system automatically compensates for wheel slippage and kinematic inaccuracy ensuring accurate placement (on the order of 2 mm, for example) of the instrument relative to the target. The system provides the ability for autonomous instrument placement by controlling both the base of the rover and the onboard manipulator using a single set of cameras. To extend the distance from which the placement can be completed to nearly five meters, target information may be transferred from navigation cameras (used for long-range) to front hazard cameras (used for positioning the manipulator).

  13. Context-Based Intent Understanding for Autonomous Systems in Naval and Collaborative Robot Applications

    DTIC Science & Technology

    2013-10-29

    29/2013 Final Report 8/1/2009 to 7/31/2013 Context-Based Intent Understanding for Autonomous Systems in Naval and Collaborative Robot Applications...are very good at recognizing intentions, endowing an autonomous system ( robot or simulated agent) with similar skills is a more complex problem, which...understanding, with specific focus on autonomous systems for naval and collaborative robotics applications. The main research problems we will address in

  14. Theory and applications survey of decentralized control methods

    NASA Technical Reports Server (NTRS)

    Athans, M.

    1975-01-01

    A nonmathematical overview is presented of trends in the general area of decentralized control strategies which are suitable for hierarchical systems. Advances in decentralized system theory are closely related to advances in the so-called stochastic control problem with nonclassical information pattern. The basic assumptions and mathematical tools pertaining to the classical stochastic control problem are outlined. Particular attention is devoted to pitfalls in the mathematical problem formulation for decentralized control. Major conclusions are that any purely deterministic approach to multilevel hierarchical dynamic systems is unlikely to lead to realistic theories or designs, that the flow of measurements and decisions in a decentralized system should not be instantaneous and error-free, and that delays in information exchange in a decentralized system lead to reasonable approaches to decentralized control. A mathematically precise notion of aggregating information is not yet available.

  15. Sensing, Control, and System Integration for Autonomous Vehicles: A Series of Challenges

    NASA Astrophysics Data System (ADS)

    Özgüner, Ümit; Redmill, Keith

    One of the important examples of mechatronic systems can be found in autonomous ground vehicles. Autonomous ground vehicles provide a series of challenges in sensing, control and system integration. In this paper we consider off-road autonomous vehicles, automated highway systems and urban autonomous driving and indicate the unifying aspects. We specifically consider our own experience during the last twelve years in various demonstrations and challenges in attempting to identify unifying themes. Such unifying themes can be observed in basic hierarchies, hybrid system control approaches and sensor fusion techniques.

  16. Evolutionary Computational Methods for Identifying Emergent Behavior in Autonomous Systems

    NASA Technical Reports Server (NTRS)

    Terrile, Richard J.; Guillaume, Alexandre

    2011-01-01

    A technique based on Evolutionary Computational Methods (ECMs) was developed that allows for the automated optimization of complex computationally modeled systems, such as autonomous systems. The primary technology, which enables the ECM to find optimal solutions in complex search spaces, derives from evolutionary algorithms such as the genetic algorithm and differential evolution. These methods are based on biological processes, particularly genetics, and define an iterative process that evolves parameter sets into an optimum. Evolutionary computation is a method that operates on a population of existing computational-based engineering models (or simulators) and competes them using biologically inspired genetic operators on large parallel cluster computers. The result is the ability to automatically find design optimizations and trades, and thereby greatly amplify the role of the system engineer.

  17. Distributed multisensor blackboard system for an autonomous robot

    NASA Astrophysics Data System (ADS)

    Kappey, Dietmar; Pokrandt, Peter; Schloen, Jan

    1994-10-01

    Sensoric data enable a robotic system to react to events occurring in its environment. Much work has been done on the development of various sensors and algorithms to extract information from an environment. On the other hand, only little work has been done in the field of multisensor communication. This paper presents a shared memory based communication protocol that has been developed for the autonomous robot system KAMRO. This system consists of two PUMA 260 manipulators and an omnidirectionally driven mobile platform. The proposed approach is based on logical sensors, which can be used to dynamically build hierarchical sensor units. The protocol uses a distributed blackboard structure for the transmission of sensor data and commands. To support asynchronous coupling of robots and sensors, it not only transfers single sensor values, but also offers functions to estimate future values.

  18. Partially Decentralized Control Architectures for Satellite Formations

    NASA Technical Reports Server (NTRS)

    Carpenter, J. Russell; Bauer, Frank H.

    2002-01-01

    In a partially decentralized control architecture, more than one but less than all nodes have supervisory capability. This paper describes an approach to choosing the number of supervisors in such au architecture, based on a reliability vs. cost trade. It also considers the implications of these results for the design of navigation systems for satellite formations that could be controlled with a partially decentralized architecture. Using an assumed cost model, analytic and simulation-based results indicate that it may be cheaper to achieve a given overall system reliability with a partially decentralized architecture containing only a few supervisors, than with either fully decentralized or purely centralized architectures. Nominally, the subset of supervisors may act as centralized estimation and control nodes for corresponding subsets of the remaining subordinate nodes, and act as decentralized estimation and control peers with respect to each other. However, in the context of partially decentralized satellite formation control, the absolute positions and velocities of each spacecraft are unique, so that correlations which make estimates using only local information suboptimal only occur through common biases and process noise. Covariance and monte-carlo analysis of a simplified system show that this lack of correlation may allow simplification of the local estimators while preserving the global optimality of the maneuvers commanded by the supervisors.

  19. An Adaptive Localization System for Outdoor/Indoor Navigation for Autonomous Robots

    DTIC Science & Technology

    2006-04-01

    An Adaptive Localization System for Outdoor/Indoor Navigation for Autonomous Robots E.B. Pacis, B. Sights, G. Ahuja, G. Kogut, H.R. Everett...TITLE AND SUBTITLE An Adaptive Localization System for Outdoor/Indoor Navigation for Autonomous Robots 5a. CONTRACT NUMBER 5b. GRANT NUMBER 5c...demonstrated a series of collaborative behaviors of multiple autonomous robots in a force-protection scenario. Stand- alone sensors detected intruder

  20. Gyro and Accelerometer Based Navigation System for a Mobile Autonomous Robot.

    DTIC Science & Technology

    1985-12-02

    8217[ C) ~OF ~ FEB 13 1986 J GYRO AND ACCELEROMETER BASED NAVIGATION SYSTEM FOR A MOBILE AUTONOMOUS ROBOT Roland J. Bloom William J. Ramey, Jr. Captain...ACCELEROMETER BASED NAVIGATION SYSTEM FOR A MOBILE AUTONOMOUS ROBOT THESIS Roland J. Bloom William J. Ramey, Jr. Captain, USAF Captain, USAF AF IT/GA/GE/ENG/85D...MOBILE AUTONOMOUS ROBOT THE SI S Presented to the Faculty of the School of Engineering of the Air Force Institute of Technology Air University In

  1. Autonomous System Management for the ALICE High-Level-Trigger Cluster using the SysMES framework

    NASA Astrophysics Data System (ADS)

    Boettger, Stefan; Breitner, Timo; Kebschull, Udo; Lara, Camilo; Ulrich, Jochen; Zelnicek, Pierre; ALICE HLT Collaboration

    2011-12-01

    The ALICE HLT cluster is a heterogeneous computer cluster currently consisting of 200 nodes. This cluster is used for on-line processing of data produced by the ALICE detector during the next 10 or more years of operation. A major management challenge is to reduce the number of manual interventions in case of failures. Classical approaches like monitoring tools lack mechanisms to detect situations with multiple failure conditions and to automatically react to such situations. We have therefore developed SysMES (System Management for networked Embedded Systems and Clusters), a decentralized, fault tolerant, tool-set for autonomous management. It comprises a monitoring facility for detecting the working states of the distributed resources, a central interface for visualizing and managing the cluster environment and a rule system for coupling of the monitoring and management aspects. We have developed a formal language by which an administrator can define complex spatial and temporal conditions for failure states and according reactions. For the HLT we have defined a set of rules for known and recurring problem states such that SysMES takes care of most of day-to-day administrative work.

  2. Autonomous Flight Safety System September 27, 2005, Aircraft Test

    NASA Technical Reports Server (NTRS)

    Simpson, James C.

    2005-01-01

    This report describes the first aircraft test of the Autonomous Flight Safety System (AFSS). The test was conducted on September 27, 2005, near Kennedy Space Center (KSC) using a privately-owned single-engine plane and evaluated the performance of several basic flight safety rules using real-time data onboard a moving aerial vehicle. This test follows the first road test of AFSS conducted in February 2005 at KSC. AFSS is a joint KSC and Wallops Flight Facility (WEF) project that is in its third phase of development. AFSS is an independent subsystem intended for use with Expendable Launch Vehicles that uses tracking data from redundant onboard sensors to autonomously make flight termination decisions using software-based rules implemented on redundant flight processors. The goals of this project are to increase capabilities by allowing launches from locations that do not have or cannot afford extensive ground-based range safety assets, to decrease range costs, and to decrease reaction time for special situations. The mission rules are configured for each operation by the responsible Range Safety authorities and can be loosely categorized in four major categories: Parameter Threshold Violations, Physical Boundary Violations present position and instantaneous impact point (TIP), Gate Rules static and dynamic, and a Green-Time Rule. Examples of each of these rules were evaluated during this aircraft test.

  3. Decentralized Energy Studies: compendium of U. S. studies and projects

    SciTech Connect

    Quinn, J.; Ohi, J.M.

    1980-06-01

    This compendium was prepared as a part of the Decentralized Energy Studies task at the Solar Energy Research Institute. The compendium lists and briefly describes a number of studies, programs, and projects that involve decentralized energy systems. The purpose is to provide information about research activities in decentralized energy systems to researchers, government officials, and interested citizens. A contact person or address is given for each of the activities listed so that interested readers can obtain more information.

  4. Decentralized Network Interdiction Games

    DTIC Science & Technology

    2015-12-31

    the shortest-path and maximum-flow multi-interdictor network games, and developed scalable algorithms to compute such equilibria. In addition, we...among noncooperative interdictors, and prosed an empirical approach utilizing decentralized algorithms to study the average-case efficiency loss...Finally, we developed convergent decentralized algorithms based on the connection between the class of potential games (to which the MINGs belong) and

  5. Low Temperature Shape Memory Alloys for Adaptive, Autonomous Systems Project

    NASA Technical Reports Server (NTRS)

    Falker, John; Zeitlin, Nancy; Williams, Martha; Benafan, Othmane; Fesmire, James

    2015-01-01

    The objective of this joint activity between Kennedy Space Center (KSC) and Glenn Research Center (GRC) is to develop and evaluate the applicability of 2-way SMAs in proof-of-concept, low-temperature adaptive autonomous systems. As part of this low technology readiness (TRL) activity, we will develop and train low-temperature novel, 2-way shape memory alloys (SMAs) with actuation temperatures ranging from 0 C to 150 C. These experimental alloys will also be preliminary tested to evaluate their performance parameters and transformation (actuation) temperatures in low- temperature or cryogenic adaptive proof-of-concept systems. The challenge will be in the development, design, and training of the alloys for 2-way actuation at those temperatures.

  6. High accuracy autonomous navigation using the global positioning system (GPS)

    NASA Technical Reports Server (NTRS)

    Truong, Son H.; Hart, Roger C.; Shoan, Wendy C.; Wood, Terri; Long, Anne C.; Oza, Dipak H.; Lee, Taesul

    1997-01-01

    The application of global positioning system (GPS) technology to the improvement of the accuracy and economy of spacecraft navigation, is reported. High-accuracy autonomous navigation algorithms are currently being qualified in conjunction with the GPS attitude determination flyer (GADFLY) experiment for the small satellite technology initiative Lewis spacecraft. Preflight performance assessments indicated that these algorithms are able to provide a real time total position accuracy of better than 10 m and a velocity accuracy of better than 0.01 m/s, with selective availability at typical levels. It is expected that the position accuracy will be increased to 2 m if corrections are provided by the GPS wide area augmentation system.

  7. Regulation of autonomic nervous system in space and magnetic storms

    NASA Astrophysics Data System (ADS)

    Baevsky, R. M.; Petrov, V. M.; Chernikova, A. G.

    Variations in the earth's magnetic field and magnetic storms are known to be a risk factor for the development of cardiovascular disorders. The main ``targets'' for geomagnetic perturbations are the central nervous system and the neural regulation of vascular tone and heart rate variability. This paper presents the data about effect of geomagnetic fluctuations on human body in space. As a method for research the analysis of heart rate variability was used, which allows evaluating the state of the sympathetic and parasympathetic parts of the autonomic nervous system, vasomotor center and subcortical neural centers activity. Heart rate variability data were analyzed for 30 cosmonauts at the 2-nd day of space flight on transport spaceship Soyuz (32nd orbit). There were formed three groups of cosmonauts: without magnetic storm (n=9), on a day with magnetic storm (n=12) and 1-2 days after magnetic storm (n=9). The present study was the first to demonstrate a specific impact of geomagnetic perturbations on the system of autonomic circulatory control in cosmonauts during space flight. The increasing of highest nervous centers activity was shown for group with magnetic storms, which was more significant on 1-2 days after magnetic storm. The use of discriminate analysis allowed to classify indicated three groups with 88 % precision. Canonical variables are suggested to be used as criterions for evaluation of specific and non-specific components of cardiovascular reactions to geomagnetic perturbations. The applied aspect of the findings from the present study should be emphasized. They show, in particular, the need to supplement the medical monitoring of cosmonauts with predictions of probable geomagnetic perturbations in view of the prevention of unfavorable states appearances if the adverse reactions to geomagnetic perturbations are added to the tension experienced by regulatory systems during various stresses situations (such as work in the open space).

  8. Decentralized domestic wastewater systems in developing countries: the case study of Harare (Zimbabwe)

    NASA Astrophysics Data System (ADS)

    Chirisa, Innocent; Bandauko, Elmond; Matamanda, Abraham; Mandisvika, Gladys

    2016-02-01

    Until recently there has been little, if any, concern over revamping let alone improving wastewater management system in Zimbabwe's urban areas given the dominance and institutionalised water-borne system. Yet, the current constraints in this system and the immensity of urbanisation in the country begs and compels planners, engineers and systems thinkers to rethink what best can work as a sustainable wastewater system. With particular reference to the ever-expanding Harare metropolitan region, this article provides an evaluative analysis on the potentiality, risks and strategies that can be adopted by Harare and its satellites in addressing the problems of the conventional wastewater management system. The suggested framework of operation is a decentralised domestic wastewater collection and treatment system which however has its own multifarious risks. Using systems dynamics conceptualisation of the potentiality, opportunities, risks and strategies, the paper seeks to model the path and outcomes of this decentralised domestic wastewater collection and treatment system and also suggests a number of policy measures and strategies that the city of Harare and its satellites can adopt.

  9. Street Viewer: An Autonomous Vision Based Traffic Tracking System.

    PubMed

    Bottino, Andrea; Garbo, Alessandro; Loiacono, Carmelo; Quer, Stefano

    2016-06-03

    The development of intelligent transportation systems requires the availability of both accurate traffic information in real time and a cost-effective solution. In this paper, we describe Street Viewer, a system capable of analyzing the traffic behavior in different scenarios from images taken with an off-the-shelf optical camera. Street Viewer operates in real time on embedded hardware architectures with limited computational resources. The system features a pipelined architecture that, on one side, allows one to exploit multi-threading intensively and, on the other side, allows one to improve the overall accuracy and robustness of the system, since each layer is aimed at refining for the following layers the information it receives as input. Another relevant feature of our approach is that it is self-adaptive. During an initial setup, the application runs in learning mode to build a model of the flow patterns in the observed area. Once the model is stable, the system switches to the on-line mode where the flow model is used to count vehicles traveling on each lane and to produce a traffic information summary. If changes in the flow model are detected, the system switches back autonomously to the learning mode. The accuracy and the robustness of the system are analyzed in the paper through experimental results obtained on several different scenarios and running the system for long periods of time.

  10. Street Viewer: An Autonomous Vision Based Traffic Tracking System

    PubMed Central

    Bottino, Andrea; Garbo, Alessandro; Loiacono, Carmelo; Quer, Stefano

    2016-01-01

    The development of intelligent transportation systems requires the availability of both accurate traffic information in real time and a cost-effective solution. In this paper, we describe Street Viewer, a system capable of analyzing the traffic behavior in different scenarios from images taken with an off-the-shelf optical camera. Street Viewer operates in real time on embedded hardware architectures with limited computational resources. The system features a pipelined architecture that, on one side, allows one to exploit multi-threading intensively and, on the other side, allows one to improve the overall accuracy and robustness of the system, since each layer is aimed at refining for the following layers the information it receives as input. Another relevant feature of our approach is that it is self-adaptive. During an initial setup, the application runs in learning mode to build a model of the flow patterns in the observed area. Once the model is stable, the system switches to the on-line mode where the flow model is used to count vehicles traveling on each lane and to produce a traffic information summary. If changes in the flow model are detected, the system switches back autonomously to the learning mode. The accuracy and the robustness of the system are analyzed in the paper through experimental results obtained on several different scenarios and running the system for long periods of time. PMID:27271627

  11. Mission-based guidance system design for autonomous UAVs

    NASA Astrophysics Data System (ADS)

    Moon, Jongki

    The advantages of UAVs in the aviation arena have led to extensive research activities on autonomous technology of UAVs to achieve specific mission objectives. This thesis mainly focuses on the development of a mission-based guidance system. Among various missions expected for future needs, autonomous formation flight (AFF) and obstacle avoidance within safe operation limits are investigated. In the design of an adaptive guidance system for AFF, the leader information except position is assumed to be unknown to a follower. Thus, the only measured information related to the leader is the line-of-sight (LOS) range and angle. Adding an adaptive element with neural networks into the guidance system provides a capability to effectively handle leader's velocity changes. Therefore, this method can be applied to the AFF control systems that use a passive sensing method. In this thesis, an adaptive velocity command guidance system and an adaptive acceleration command guidance system are developed and presented. Since relative degrees of the LOS range and angle are different depending on the outputs from the guidance system, the architecture of the guidance system changes accordingly. Simulations and flight tests are performed using the Georgia Tech UAV helicopter, the GTMax, to evaluate the proposed guidance systems. The simulation results show that the neural network (NN) based adaptive element can improve the tracking performance by effectively compensating for the effect of unknown dynamics. It has also been shown that the combination of an adaptive velocity command guidance system and the existing GTMax autopilot controller performs better than the combination of an adaptive acceleration command guidance system and the GTMax autopilot controller. The successful flight evaluation using an adaptive velocity command guidance system clearly shows that the adaptive guidance control system is a promising solution for autonomous formation flight of UAVs. In addition, an

  12. Autonomous control systems: applications to remote sensing and image processing

    NASA Astrophysics Data System (ADS)

    Jamshidi, Mohammad

    2001-11-01

    One of the main challenges of any control (or image processing) paradigm is being able to handle complex systems under unforeseen uncertainties. A system may be called complex here if its dimension (order) is too high and its model (if available) is nonlinear, interconnected, and information on the system is uncertain such that classical techniques cannot easily handle the problem. Examples of complex systems are power networks, space robotic colonies, national air traffic control system, and integrated manufacturing plant, the Hubble Telescope, the International Space Station, etc. Soft computing, a consortia of methodologies such as fuzzy logic, neuro-computing, genetic algorithms and genetic programming, has proven to be powerful tools for adding autonomy and semi-autonomy to many complex systems. For such systems the size of soft computing control architecture will be nearly infinite. In this paper new paradigms using soft computing approaches are utilized to design autonomous controllers and image enhancers for a number of application areas. These applications are satellite array formations for synthetic aperture radar interferometry (InSAR) and enhancement of analog and digital images.

  13. The Montana ALE (Autonomous Lunar Excavator) Systems Engineering Report

    NASA Technical Reports Server (NTRS)

    Hull, Bethanne J.

    2012-01-01

    On May 2 1-26, 20 12, the third annual NASA Lunabotics Mining Competition will be held at the Kennedy Space Center in Florida. This event brings together student teams from universities around the world to compete in an engineering challenge. Each team must design, build and operate a robotic excavator that can collect artificial lunar soil and deposit it at a target location. Montana State University, Bozeman, is one of the institutions selected to field a team this year. This paper will summarize the goals of MSU's lunar excavator project, known as the Autonomous Lunar Explorer (ALE), along with the engineering process that the MSU team is using to fulfill these goals, according to NASA's systems engineering guidelines.

  14. Open multiagent architecture extended to distributed autonomous robotic systems

    NASA Astrophysics Data System (ADS)

    Sellem, Philippe; Amram, Eric; Luzeaux, Dominique

    2000-07-01

    Our research deals with the design and experiment of a control architecture for an autonomous outdoor mobile robot which uses mainly vision for perception. In this case of a single robot, we have designed a hybrid architecture with an attention mechanism that allows dynamic selection of perception processes. Building on this work, we have developed an open multi-agent architecture, for standard multi-task operating system, using the C++ programming language and Posix threads. Our implementation features of efficient and fully generic messages between agents, automatic acknowledgement receipts and built-in synchronization capabilities. Knowledge is distributed among robots according to a collaborative scheme: every robot builds its own representation of the world and shares it with others. Pieces of information are exchanged when decisions have to be made. Experiments are to be led with two outdoor ActiveMedia Pioneer AT mobile robots. Distributed perception, using mainly vision but also ultrasound, will serve as proof of concept.

  15. Challenges in verification and validation of autonomous systems for space exploration

    NASA Technical Reports Server (NTRS)

    Brat, Guillaume; Jonsson, Ari

    2005-01-01

    Space exploration applications offer a unique opportunity for the development and deployment of autonomous systems, due to limited communications, large distances, and great expense of direct operation. At the same time, the risk and cost of space missions leads to reluctance to taking on new, complex and difficult-to-understand technology. A key issue in addressing these concerns is the validation of autonomous systems. In recent years, higher-level autonomous systems have been applied in space applications. In this presentation, we will highlight those autonomous systems, and discuss issues in validating these systems. We will then look to future demands on validating autonomous systems for space, identify promising technologies and open issues.

  16. Decentralized adaptive fuzzy output feedback control of nonlinear interconnected systems with time-varying delay

    NASA Astrophysics Data System (ADS)

    Wang, Qin; Chen, Zuwen; Song, Aiguo

    2017-01-01

    A robust adaptive output-feedback control scheme based on K-filters is proposed for a class of nonlinear interconnected time-varying delay systems with immeasurable states. It is difficult to design the controller due to the existence of the immeasurable states and the time-delay couplings among interconnected subsystems. This difficulty is overcome by use of the fuzzy system, the K-filters and the appropriate Lyapunov-Krasovskii functional. Based on Lyapunov theory, the closed-loop control system is proved to be semi-global uniformly ultimately bounded (SGUUB), and the output tracking error converges to a neighborhood of zero. Simulation results demonstrate the effectiveness of the approach.

  17. Scalable Distributed Automation System: Scalable Real-time Decentralized Volt/VAR Control

    SciTech Connect

    2012-03-01

    GENI Project: Caltech is developing a distributed automation system that allows distributed generators—solar panels, wind farms, thermal co-generation systems—to effectively manage their own power. To date, the main stumbling block for distributed automation systems has been the inability to develop software that can handle more than 100,000 distributed generators and be implemented in real time. Caltech’s software could allow millions of generators to self-manage through local sensing, computation, and communication. Taken together, localized algorithms can support certain global objectives, such as maintaining the balance of energy supply and demand, regulating voltage and frequency, and minimizing cost. An automated, grid-wide power control system would ease the integration of renewable energy sources like solar power into the grid by quickly transmitting power when it is created, eliminating the energy loss associated with the lack of renewable energy storage capacity of the grid.

  18. Individualization, Desegregation and Educational Decision-Making in an Urban Decentralized School System.

    ERIC Educational Resources Information Center

    Iverson, Grace; And Others

    A brief paper presented at the American Educational Research Association Annual meeting (April 1977) describes the development, and analysis of the Instructional Management System (IMS) which is used in the Lansing elementary schools. The report is divided into three sections: a historical overview of the program, a description of IMS, and an…

  19. Handheld and portable test systems for decentralized testing: from lab to marketplace

    NASA Astrophysics Data System (ADS)

    Faulstich, Konrad; Haberstroh, Klaus

    2009-05-01

    Emergency Diagnostics, Homeland Security, Epidemiological Preparedness and the high cost of the Health Care Systems have increased demand for affordable and mobile point of care (POC) devices with highest sensitivity, specificity and rapid time to result. We have developed pocket and brief case sized systems for point of care and field based tests based on fluorescence read-out. The core consists of battery operated, 90 gram electro-optical units with optional wireless data transfer, which have been optimized to achieve highest accuracy and sensitivity combined with simplicity of use. The robust systems have been applied to molecular diagnostics such as DNA based testing, immunodiagnostics as well as environmental monitoring and agricultural testing. Starting with the current bottlenecks of in-vitro diagnostics testing and a brief market overview, we will show commercially available portable test systems for molecular diagnostics and how we solve the current bottlenecks. We will further show battery operated handheld prototypes for DNA testing. ESE's handheld and portable testing platforms have been shown to provide sensitive, accurate, and specific results, as well as rapid turnaround. The stand-alone devices demonstrate operational and physical robustness, and they can be manufactured to be affordable.

  20. Hierarchical, decentralized control system for large-scale smart-structures

    NASA Astrophysics Data System (ADS)

    Algermissen, Stephan; Fröhlich, Tim; Monner, Hans Peter

    2014-08-01

    Active control of sound and vibration has gained much attention in all kinds of industries in the past decade. Future prospects for maximizing airline passenger comfort are especially promising. The objectives of recent research projects in this area are the reduction of noise transmission through thin walled structures such as fuselages, linings or interior elements. Besides different external noise sources, such as the turbulent boundary layer, rotor or jet noise, the actuator and sensor placement as well as different control concepts are addressed. Mostly, the work is focused on a single panel or section of the fuselage, neglecting the fact that for effective noise reduction the entire fuselage has to be taken into account. Nevertheless, extending the scope of an active system from a single panel to the entire fuselage increases the effort for control hardware dramatically. This paper presents a control concept for large structures using distributed control nodes. Each node has the capability to execute a vibration or noise controller for a specific part or section of the fuselage. For maintenance, controller tuning or performance measurement, all nodes are connected to a host computer via Universal Serial Bus (USB). This topology allows a partitioning and distributing of tasks. The nodes execute the low-level control functions. High-level tasks like maintenance, system identification and control synthesis are operated by the host using streamed data from the nodes. By choosing low-price nodes, a very cost effective way of implementing an active system for large structures is realized. Besides the system identification and controller synthesis on the host computer, a detailed view on the hardware and software concept for the nodes is given. Finally, the results of an experimental test of a system running a robust vibration controller at an active panel demonstrator are shown.

  1. Autonomous self-powered structural health monitoring system

    NASA Astrophysics Data System (ADS)

    Qing, Xinlin P.; Anton, Steven R.; Zhang, David; Kumar, Amrita; Inman, Daniel J.; Ooi, Teng K.

    2010-03-01

    Structural health monitoring technology is perceived as a revolutionary method of determining the integrity of structures involving the use of multidisciplinary fields including sensors, materials, system integration, signal processing and interpretation. The core of the technology is the development of self-sufficient systems for the continuous monitoring, inspection and damage detection of structures with minimal labor involvement. A major drawback of the existing technology for real-time structural health monitoring is the requirement for external electrical power input. For some applications, such as missiles or combat vehicles in the field, this factor can drastically limit the use of the technology. Having an on-board electrical power source that is independent of the vehicle power system can greatly enhance the SHM system and make it a completely self-contained system. In this paper, using the SMART layer technology as a basis, an Autonomous Self-powered (ASP) Structural Health Monitoring (SHM) system has been developed to solve the major challenge facing the transition of SHM systems into field applications. The architecture of the self-powered SHM system was first designed. There are four major components included in the SHM system: SMART Layer with sensor network, low power consumption diagnostic hardware, rechargeable battery with energy harvesting device, and host computer with supporting software. A prototype of the integrated self-powered active SHM system was built for performance and functionality testing. Results from the evaluation tests demonstrated that a fully charged battery system is capable of powering the SHM system for active scanning up to 10 hours.

  2. Decentralized Estimation and Vision-based Guidance of Fast Autonomous Systems with Guaranteed Performance in Uncertain Environments

    DTIC Science & Technology

    2013-04-22

    08 01:00:00, . : , 08/23/2012 23.00 Justin Vanness, Evgeny Kharisov, Naira Hovakimyan. Generalization of Proportional Adaptation Law for L1 Adaptive...2001TRA  Maximal coverage – Bullo 2005CC, Cortes  2004TRA,  Martinez  2007CSM  Optimization – Rabbat 2004 IPSN Palomar    Perfect Model • No Physical

  3. Decentralized and Tactical Air Traffic Flow Management

    NASA Technical Reports Server (NTRS)

    Odoni, Amedeo R.; Bertsimas, Dimitris

    1997-01-01

    This project dealt with the following topics: 1. Review and description of the existing air traffic flow management system (ATFM) and identification of aspects with potential for improvement. 2. Identification and review of existing models and simulations dealing with all system segments (enroute, terminal area, ground) 3. Formulation of concepts for overall decentralization of the ATFM system, ranging from moderate decentralization to full decentralization 4. Specification of the modifications to the ATFM system required to accommodate each of the alternative concepts. 5. Identification of issues that need to be addressed with regard to: determination of the way the ATFM system would be operating; types of flow management strategies that would be used; and estimation of the effectiveness of ATFM with regard to reducing delay and re-routing costs. 6. Concept evaluation through identification of criteria and methodologies for accommodating the interests of stakeholders and of approaches to optimization of operational procedures for all segments of the ATFM system.

  4. Autonomic Nervous System in Viral Myocarditis: Pathophysiology and Therapy.

    PubMed

    Cheng, Zheng; Li-Sha, Ge; Yue-Chun, Li

    2016-01-01

    Myocarditis, which is caused by viral infection, can lead to heart failure, malignant arrhythmias, and even sudden cardiac death in young patients. It is also one of the most important causes of dilated cardiomyopathy worldwide. Although remarkable advances in diagnosis and understanding of pathophysiological mechanisms of viral myocarditis have been gained during recent years, no standard treatment strategies have been defined as yet. Fortunately, recent studies present some evidence that immunomodulating therapy is effective for myocarditis. The immunomodulatory effect of the autonomic nervous system has raised considerable interest over recent decades. Studying the influence on the inflammation and immune system of the sympathetic and parasympathetic nervous systems will not only increase our understanding of the mechanism of disease but could also lead to the identification of potential new therapies for viral myocarditis. Studies have shown that the immunomodulating effect of the sympathetic and parasympathetic nervous system is realized by the release of neurotransmitters to their corresponding receptors (catecholamine for α or β adrenergic receptor, acetylcholine for α7 nicotinic acetylcholinergic receptor). This review will discuss the current knowledge of the roles of both the sympathetic and parasympathetic nervous system in inflammation, with a special focus on their roles in viral myocarditis.

  5. ANTS: Exploring the Solar System with an Autonomous Nanotechnology Swarm

    NASA Technical Reports Server (NTRS)

    Clark, P. E.; Curtis, S.; Rilee, M.; Truszkowski, W.; Marr, G.

    2002-01-01

    ANTS (Autonomous Nano-Technology Swarm), a NASA advanced mission concept, calls for a large (1000 member) swarm of pico-class (1 kg) totally autonomous spacecraft to prospect the asteroid belt. Additional information is contained in the original extended abstract.

  6. Decentralized molecular diagnostic testing plan for pandemic influenza in the Ontario Public Health Laboratory system.

    PubMed

    Drews, Steven J; Majury, Anna; Jamieson, Frances; Riley, Garth; Mazzulli, Tony; Low, Donald E

    2008-01-01

    The Ontario Public Health Laboratories system (OPHL) is in the midst of a six-year plan to implement molecular tools for pandemic influenza diagnostics in one central and three regional public health laboratories. This plan has been formulated as a consequence of: (1) experiences gained through severe acute respiratory syndrome (SARS), and comments of the members of the Expert Panel on SARS and Infectious Disease Control (i.e., the Walker report); (2) a review of pandemic preparedness literature; (3) historical and epidemiologic discussions about previous pandemics; and (4) suggestions made by various pandemic working committees. The OPHL plan includes: (1) an aggressive restructuring of the overall molecular microbiology testing capacity of the OPHL; (2) the ability to shift influenza testing of samples between designated OPHL laboratories; and (3) the development of screening tools for pandemic influenza diagnostic tests. The authors believe that investing in increased molecular testing capacity for regional laboratories outside the greater Toronto area will be beneficial to the OPHL system whether or not an influenza pandemic occurs. Well-trained technologists and microbiologists, and the introduction of new technologies, will facilitate the development of a wide variety of molecular tests for other infectious diseases at public health laboratories geographically distant from Toronto, thus enhancing overall laboratory testing capacity in the province of Ontario.

  7. Laser rangefinders for autonomous intelligent cruise control systems

    NASA Astrophysics Data System (ADS)

    Journet, Bernard A.; Bazin, Gaelle

    1998-01-01

    THe purpose of this paper is to show to what kind of application laser range-finders can be used inside Autonomous Intelligent Cruise Control systems. Even if laser systems present good performances the safety and technical considerations are very restrictive. As the system is used in the outside, the emitted average output power must respect the rather low level of 1A class. Obstacle detection or collision avoidance require a 200 meters range. Moreover bad weather conditions, like rain or fog, ar disastrous. We have conducted measurements on laser rangefinder using different targets and at different distances. We can infer that except for cooperative targets low power laser rangefinder are not powerful enough for long distance measurement. Radars, like 77 GHz systems, are better adapted to such cases. But in case of short distances measurement, range around 10 meters, with a minimum distance around twenty centimeters, laser rangefinders are really useful with good resolution and rather low cost. Applications can have the following of white lines on the road, the target being easily cooperative, detection of vehicles in the vicinity, that means car convoy traffic control or parking assistance, the target surface being indifferent at short distances.

  8. Lagrangian-Hamiltonian unified formalism for autonomous higher order dynamical systems

    NASA Astrophysics Data System (ADS)

    Prieto-Martínez, Pedro Daniel; Román-Roy, Narciso

    2011-09-01

    The Lagrangian-Hamiltonian unified formalism of Skinner and Rusk was originally stated for autonomous dynamical systems in classical mechanics. It has been generalized for non-autonomous first-order mechanical systems, as well as for first-order and higher order field theories. However, a complete generalization to higher order mechanical systems is yet to be described. In this work, after reviewing the natural geometrical setting and the Lagrangian and Hamiltonian formalisms for higher order autonomous mechanical systems, we develop a complete generalization of the Lagrangian-Hamiltonian unified formalism for these kinds of systems, and we use it to analyze some physical models from this new point of view.

  9. Autonomous perception and decision making in cyber-physical systems

    NASA Astrophysics Data System (ADS)

    Sarkar, Soumik

    2011-07-01

    The cyber-physical system (CPS) is a relatively new interdisciplinary technology area that includes the general class of embedded and hybrid systems. CPSs require integration of computation and physical processes that involves the aspects of physical quantities such as time, energy and space during information processing and control. The physical space is the source of information and the cyber space makes use of the generated information to make decisions. This dissertation proposes an overall architecture of autonomous perception-based decision & control of complex cyber-physical systems. Perception involves the recently developed framework of Symbolic Dynamic Filtering for abstraction of physical world in the cyber space. For example, under this framework, sensor observations from a physical entity are discretized temporally and spatially to generate blocks of symbols, also called words that form a language. A grammar of a language is the set of rules that determine the relationships among words to build sentences. Subsequently, a physical system is conjectured to be a linguistic source that is capable of generating a specific language. The proposed technology is validated on various (experimental and simulated) case studies that include health monitoring of aircraft gas turbine engines, detection and estimation of fatigue damage in polycrystalline alloys, and parameter identification. Control of complex cyber-physical systems involve distributed sensing, computation, control as well as complexity analysis. A novel statistical mechanics-inspired complexity analysis approach is proposed in this dissertation. In such a scenario of networked physical systems, the distribution of physical entities determines the underlying network topology and the interaction among the entities forms the abstract cyber space. It is envisioned that the general contributions, made in this dissertation, will be useful for potential application areas such as smart power grids and

  10. Decentralized energy studies: compendium of international studies and research

    SciTech Connect

    Wallace, C.

    1980-03-01

    The purpose of the compendium is to provide information about research activities in decentralized energy systems to researchers, government officials, and interested citizens. The compendium lists and briefly describes a number of studies in other industrialized nations that involve decentralized energy systems. A contact person is given for each of the activities listed so that interested readers can obtain more information.

  11. Decentralized control of large-scale systems: Fixed modes, sensitivity and parametric robustness. Ph.D. Thesis - Universite Paul Sabatier, 1985

    NASA Technical Reports Server (NTRS)

    Tarras, A.

    1987-01-01

    The problem of stabilization/pole placement under structural constraints of large scale linear systems is discussed. The existence of a solution to this problem is expressed in terms of fixed modes. The aim is to provide a bibliographic survey of the available results concerning the fixed modes (characterization, elimination, control structure selection to avoid them, control design in their absence) and to present the author's contribution to this problem which can be summarized by the use of the mode sensitivity concept to detect or to avoid them, the use of vibrational control to stabilize them, and the addition of parametric robustness considerations to design an optimal decentralized robust control.

  12. Mechanical deployment system on aries an autonomous mobile robot

    SciTech Connect

    Rocheleau, D.N.

    1995-12-01

    ARIES (Autonomous Robotic Inspection Experimental System) is under development for the Department of Energy (DOE) to survey and inspect drums containing low-level radioactive waste stored in warehouses at DOE facilities. This paper focuses on the mechanical deployment system-referred to as the camera positioning system (CPS)-used in the project. The CPS is used for positioning four identical but separate camera packages consisting of vision cameras and other required sensors such as bar-code readers and light stripe projectors. The CPS is attached to the top of a mobile robot and consists of two mechanisms. The first is a lift mechanism composed of 5 interlocking rail-elements which starts from a retracted position and extends upward to simultaneously position 3 separate camera packages to inspect the top three drums of a column of four drums. The second is a parallelogram special case Grashof four-bar mechanism which is used for positioning a camera package on drums on the floor. Both mechanisms are the subject of this paper, where the lift mechanism is discussed in detail.

  13. Adaptive fuzzy decentralized control for large-scale nonlinear systems with time-varying delays and unknown high-frequency gain sign.

    PubMed

    Tong, Shaocheng; Liu, Changliang; Li, Yongming; Zhang, Huaguang

    2011-04-01

    In this paper, an adaptive fuzzy decentralized robust output feedback control approach is proposed for a class of large-scale strict-feedback nonlinear systems without the measurements of the states. The nonlinear systems in this paper are assumed to possess unstructured uncertainties, time-varying delays, and unknown high-frequency gain sign. Fuzzy logic systems are used to approximate the unstructured uncertainties, K-filters are designed to estimate the unmeasured states, and a special Nussbaum gain function is introduced to solve the problem of unknown high-frequency gain sign. Combining the backstepping technique with adaptive fuzzy control theory, an adaptive fuzzy decentralized robust output feedback control scheme is developed. In order to obtain the stability of the closed-loop system, a new lemma is given and proved. Based on this lemma and Lyapunov-Krasovskii functions, it is proved that all the signals in the closed-loop system are uniformly ultimately bounded and that the tracking errors can converge to a small neighborhood of the origin. The effectiveness of the proposed approach is illustrated from simulation results.

  14. DualTrust: A Distributed Trust Model for Swarm-Based Autonomic Computing Systems

    SciTech Connect

    Maiden, Wendy M.; Dionysiou, Ioanna; Frincke, Deborah A.; Fink, Glenn A.; Bakken, David E.

    2011-02-01

    For autonomic computing systems that utilize mobile agents and ant colony algorithms for their sensor layer, trust management is important for the acceptance of the mobile agent sensors and to protect the system from malicious behavior by insiders and entities that have penetrated network defenses. This paper examines the trust relationships, evidence, and decisions in a representative system and finds that by monitoring the trustworthiness of the autonomic managers rather than the swarming sensors, the trust management problem becomes much more scalable and still serves to protect the swarm. We then propose the DualTrust conceptual trust model. By addressing the autonomic manager’s bi-directional primary relationships in the ACS architecture, DualTrust is able to monitor the trustworthiness of the autonomic managers, protect the sensor swarm in a scalable manner, and provide global trust awareness for the orchestrating autonomic manager.

  15. An Approach to Autonomous Control for Space Nuclear Power Systems

    SciTech Connect

    Wood, Richard Thomas; Upadhyaya, Belle R.

    2011-01-01

    Under Project Prometheus, the National Aeronautics and Space Administration (NASA) investigated deep space missions that would utilize space nuclear power systems (SNPSs) to provide energy for propulsion and spacecraft power. The initial study involved the Jupiter Icy Moons Orbiter (JIMO), which was proposed to conduct in-depth studies of three Jovian moons. Current radioisotope thermoelectric generator (RTG) and solar power systems cannot meet expected mission power demands, which include propulsion, scientific instrument packages, and communications. Historically, RTGs have provided long-lived, highly reliable, low-power-level systems. Solar power systems can provide much greater levels of power, but power density levels decrease dramatically at {approx} 1.5 astronomical units (AU) and beyond. Alternatively, an SNPS can supply high-sustained power for space applications that is both reliable and mass efficient. Terrestrial nuclear reactors employ varying degrees of human control and decision-making for operations and benefit from periodic human interaction for maintenance. In contrast, the control system of an SNPS must be able to provide continuous operatio for the mission duration with limited immediate human interaction and no opportunity for hardware maintenance or sensor calibration. In effect, the SNPS control system must be able to independently operate the power plant while maintaining power production even when subject to off-normal events and component failure. This capability is critical because it will not be possible to rely upon continuous, immediate human interaction for control due to communications delays and periods of planetary occlusion. In addition, uncertainties, rare events, and component degradation combine with the aforementioned inaccessibility and unattended operation to pose unique challenges that an SNPS control system must accommodate. Autonomous control is needed to address these challenges and optimize the reactor control design.

  16. Multifunctional astronomical self-organizing system of autonomous navigation and orientation for artificial Earth satellites

    NASA Astrophysics Data System (ADS)

    Kuznetsov, V. I.; Danilova, T. V.

    2017-03-01

    We describe the methods and algorithms of a multifunctional astronomical system of the autonomous navigation and orientation for artificial Earth satellites based on the automatization of the system approach to the design and programming problems of the subject area.

  17. Territorial Decentration and Geographic Learning.

    ERIC Educational Resources Information Center

    Stoltman, Joseph P.

    Territorial decentration is a question of major significance to geographic educators. This paper reports the findings of a research project designed to determine the territorial decentration of an American sample of children. The primary purpose of the research was to determine if Piaget's territorial decentration stages are appropriate for…

  18. Autonomous exploration system: Techniques for interpretation of multispectral data

    NASA Technical Reports Server (NTRS)

    Yates, Gigi; Eberlein, Susan

    1989-01-01

    An on-board autonomous exploration system that fuses data from multiple sensors, and makes decisions based on scientific goals is being developed using a series of artificial neural networks. Emphasis is placed on classifying minerals into broad geological categories by analyzing multispectral data from an imaging spectrometer. Artificial neural network architectures are being investigated for pattern matching and feature detection, information extraction, and decision making. As a first step, a stereogrammetry net extracts distance data from two gray scale stereo images. For each distance plane, the output is the probable mineral composition of the region, and a list of spectral features such as peaks, valleys, or plateaus, showing the characteristics of energy absorption and reflection. The classifier net is constructed using a grandmother cell architecture: an input layer of spectral data, an intermediate processor, and an output value. The feature detector is a three-layer feed-forward network that was developed to map input spectra to four geological classes, and will later be expanded to encompass more classes. Results from the classifier and feature detector nets will help to determine the relative importance of the region being examined with regard to current scientific goals of the system. This information is fed into a decision making neural net along with data from other sensors to decide on a plan of activity. A plan may be to examine the region at higher resolution, move closer, employ other sensors, or record an image and transmit it back to Earth.

  19. Central Command Architecture for High Order Autonomous Unmanned Systems

    NASA Astrophysics Data System (ADS)

    Bieber, Chad Michael

    This dissertation describes a High-Order Central Command (HOCC) architecture and presents a flight demonstration where a single user coordinates 4 unmanned fixed-wing aircraft. HOCC decouples the user from control of individual vehicles, eliminating human limits on the size of the system, and uses a non-iterative sequence of algorithms that permit easy estimation of how computational complexity scales. The Hungarian algorithm used to solve a min-sum assignment with a one-task planning horizon becomes the limiting complexity, scaling at O(x3) where x is the larger number of vehicles or tasks in the assignment. This method is shown to have a unique property of creating non-intersecting routes which is used to drastically reduce the computational cost of deconflicting planned routes. Results from several demonstration flights are presented where a single user commands a system of 4 fixed-wing aircraft. The results confirm that autonomous flight of a large number of UAVs is a bona fide engineering sub-discipline, which is expected to be of interest to engineers who will find its utility in the aviation industry and in other emerging markets.

  20. Systems and methods for autonomously controlling agricultural machinery

    DOEpatents

    Hoskinson, Reed L.; Bingham, Dennis N.; Svoboda, John M.; Hess, J. Richard

    2003-07-08

    Systems and methods for autonomously controlling agricultural machinery such as a grain combine. The operation components of a combine that function to harvest the grain have characteristics that are measured by sensors. For example, the combine speed, the fan speed, and the like can be measured. An important sensor is the grain loss sensor, which may be used to quantify the amount of grain expelled out of the combine. The grain loss sensor utilizes the fluorescence properties of the grain kernels and the plant residue to identify when the expelled plant material contains grain kernels. The sensor data, in combination with historical and current data stored in a database, is used to identify optimum operating conditions that will result in increased crop yield. After the optimum operating conditions are identified, an on-board computer can generate control signals that will adjust the operation of the components identified in the optimum operating conditions. The changes result in less grain loss and improved grain yield. Also, because new data is continually generated by the sensor, the system has the ability to continually learn such that the efficiency of the agricultural machinery is continually improved.

  1. A Closed-Loop Hardware Simulation of Decentralized Satellite Formation Control

    NASA Technical Reports Server (NTRS)

    Ebimuma, Takuji; Lightsey, E. Glenn; Baur, Frank (Technical Monitor)

    2002-01-01

    In recent years, there has been significant interest in the use of formation flying spacecraft for a variety of earth and space science missions. Formation flying may provide smaller and cheaper satellites that, working together, have more capability than larger and more expensive satellites. Several decentralized architectures have been proposed for autonomous establishment and maintenance of satellite formations. In such architectures, each satellite cooperatively maintains the shape of the formation without a central supervisor, and processing only local measurement information. The Global Positioning System (GPS) sensors are ideally suited to provide such local position and velocity measurements to the individual satellites. An investigation of the feasibility of a decentralized approach to satellite formation flying was originally presented by Carpenter. He extended a decentralized linear-quadratic-Gaussian (LQG) framework proposed by Speyer in a fashion similar to an extended Kalman filter (EKE) which processed GPS position fix solutions. The new decentralized LQG architecture was demonstrated in a numerical simulation for a realistic scenario that is similar to missions that have been proposed by NASA and the U.S. Air Force. Another decentralized architecture was proposed by Park et al. using carrier differential-phase GPS (CDGPS). Recently, Busse et al demonstrated the decentralized CDGPS architecture in a hardware-in-the-loop simulation on the Formation Flying TestBed (FFTB) at Goddard Space Flight Center (GSFC), which features two Spirent Cox 16 channel GPS signal generator. Although representing a step forward by utilizing GPS signal simulators for a spacecraft formation flying simulation, only an open-loop performance, in which no maneuvers were executed based on the real-time state estimates, was considered. In this research, hardware experimentation has been extended to include closed-loop integrated guidance and navigation of multiple spacecraft

  2. The Use of Autonomous Systems in Emergency Medical Services: Bridging Human Intelligence and Technology

    DTIC Science & Technology

    2015-12-01

    development of autonomous systems (AS), which are technological systems or processes that either support or replace human decision making , will have a...autonomous systems (AS), which are technological systems or processes that either support or replace human decision making , will have a significant impact on...support or replace human decision making , will have a significant impact on public safety services, including EMS. EMS provider organizations must be

  3. Holistic Modeling for Human-Autonomous System Interaction

    DTIC Science & Technology

    2015-01-01

    positive  and  negative  effects  of...captures  the   positive   effects  of  increasing  workload,  assuming  that  an  increasing  rate  of  interventions...2009).  Consensus-­‐Based  Decentralized   Auctions  for   Robust  Task  Allocation  IEEE  Transactions  on  Robotics,

  4. Changes of autonomic nervous system function in patients with breath-holding spells treated with iron.

    PubMed

    Orii, Kenji E; Kato, Zenichiro; Osamu, Fukutomi; Funato, Michinori; Kubodera, Uniko; Inoue, Ryosuke; Shimozawa, Nobuyuki; Kondo, Naomi

    2002-05-01

    To evaluate the autonomic nervous system of patients with breath-holding spells after iron treatment, we attempted to determine whether a dysregulation of the autonomic nervous system reflexes exists in children with severe cyanotic breathholding spells. An electrocardiogram for each subject was recorded for 24 hours in the subject's home and parasympathetic activity was investigated by the fast Fourier transform method. Hematologic data and clinical symptoms of all three patients treated with iron improved and attacks of severe breath-holding spells disappeared. After iron treatment was started, the heart rate variability increased during sleep. It appears that supplementation of iron is effective in improving the dysregulation of autonomic nervous system reflexes.

  5. Decentralized Software Evolution

    DTIC Science & Technology

    2003-09-01

    Institute for Software Research University of California, Irvine www.isr.uci.edu/tech-reports.html Peyman Oreizy University of California, Irvine... Peyman Oreizy and Richard N. Taylor Institute for Software Research University of California, Irvine Irvine, CA 92697-3425 USA {peymano, taylor...mechanisms that enforce cooperation among Decentralized Software Evolution Peyman Oreizy and Richard N. Taylor Institute for Software Research

  6. The autonomic nervous system regulates postprandial hepatic lipid metabolism.

    PubMed

    Bruinstroop, Eveline; la Fleur, Susanne E; Ackermans, Mariette T; Foppen, Ewout; Wortel, Joke; Kooijman, Sander; Berbée, Jimmy F P; Rensen, Patrick C N; Fliers, Eric; Kalsbeek, Andries

    2013-05-15

    The liver is a key organ in controlling glucose and lipid metabolism during feeding and fasting. In addition to hormones and nutrients, inputs from the autonomic nervous system are also involved in fine-tuning hepatic metabolic regulation. Previously, we have shown in rats that during fasting an intact sympathetic innervation of the liver is essential to maintain the secretion of triglycerides by the liver. In the current study, we hypothesized that in the postprandial condition the parasympathetic input to the liver inhibits hepatic VLDL-TG secretion. To test our hypothesis, we determined the effect of selective surgical hepatic denervations on triglyceride metabolism after a meal in male Wistar rats. We report that postprandial plasma triglyceride concentrations were significantly elevated in parasympathetically denervated rats compared with control rats (P = 0.008), and VLDL-TG production tended to be increased (P = 0.066). Sympathetically denervated rats also showed a small rise in postprandial triglyceride concentrations (P = 0.045). On the other hand, in rats fed on a six-meals-a-day schedule for several weeks, a parasympathetic denervation resulted in >70% higher plasma triglycerides during the day (P = 0.001), whereas a sympathetic denervation had no effect. Our results show that abolishing the parasympathetic input to the liver results in increased plasma triglyceride levels during postprandial conditions.

  7. Maternal rearing environment impacts autonomic nervous system activity.

    PubMed

    Bliss-Moreau, Eliza; Moadab, Gilda; Capitanio, John P

    2017-04-03

    While it is now well known that social deprivation during early development permanently perturbs affective responding, accumulating evidence suggests that less severe restriction of the early social environment may also have deleterious effects. In the present report, we evaluate the affective responding of rhesus macaque (Macaca mulatta) infants raised by their mothers in restricted social environments or by their mothers in large social groups by indexing autonomic nervous system activity. Following a 25-hr evaluation of biobehavioral organization, electrocardiogram, and an index of respiration were recorded for 10 min. This allowed for an evaluation of both heart rate and respiratory sinus arrhythmia (RSA), an index of parasympathetic activity, during a challenging situation. Three- to four-month-old infants raised in restricted social environments had significantly higher heart rates and lower RSA as compared to infants raised in unrestricted social environments, consistent with a more potent stress response to the procedure. These results are consistent with mounting evidence that the environment in which individuals are raised has important consequences for affective processing.

  8. Bluefin autonomous underwater vehicles: Programs, systems, and acoustic issues

    NASA Astrophysics Data System (ADS)

    Bondaryk, Joseph E.

    2001-05-01

    Bluefin Robotics Corporation has been manufacturing autonomous underwater vehicles (AUVs) since spinning out of the MIT Sea Grant Laboratory in 1997. Bluefin currently makes three different diameter models of AUVs; the 9, 12, and 21, all based on the same free-flooded architecture and vectored-thrust propulsion design. Auxiliary acoustic systems include acoustic abort, ranging beacons, and acoustic modems. Vehicle navigation is aided by a downward-looking acoustic Doppler velocity logger (DVL). Sonar payloads can include: bottom profiler, side-scan sonar, SAS, forward-looking imagers (DIDSON), as well as horizontal and vertical discrete hydrophone arrays. Acoustic issues that arise include: (1) transmission of sound through the ABS plastic vehicle shell; (2) the impact of vehicle self-noise on data; (3) interoperability of sonars with other acoustic emitters present on and off the vehicle; and (4) the impact of navigation on some acoustic operations like SAS. This talk will illustrate these issues with real data collected on various Bluefin vehicles.

  9. Rapid laser prototyping of valves for microfluidic autonomous systems

    NASA Astrophysics Data System (ADS)

    Mohammed, M. I.; Abraham, E.; Y Desmulliez, M. P.

    2013-03-01

    Capillary forces in microfluidics provide a simple yet elegant means to direct liquids through flow channel networks. The ability to manipulate the flow in a truly automated manner has proven more problematic. The majority of valves require some form of flow control devices, which are manually, mechanically or electrically driven. Most demonstrated capillary systems have been manufactured by photolithography, which, despite its high precision and repeatability, can be labour intensive, requires a clean room environment and the use of fixed photomasks, limiting thereby the agility of the manufacturing process to readily examine alternative designs. In this paper, we describe a robust and rapid CO2 laser manufacturing process and demonstrate a range of capillary-driven microfluidic valve structures embedded within a microfluidic network. The manufacturing process described allows for advanced control and manipulation of fluids such that flow can be halted, triggered and delayed based on simple geometrical alterations to a given microchannel. The rapid prototyping methodology has been employed with PMMA substrates and a complete device has been created, ready for use, within 2-3 h. We believe that this agile manufacturing process can be applied to produce a range of complex autonomous fluidic platforms and allows subsequent designs to be rapidly explored.

  10. Automatic Welding System Using Speed Controllable Autonomous Mobile Robot

    NASA Astrophysics Data System (ADS)

    Kim, Taewon; Suto, Takeshi; Kobayashi, Junya; Kim, Jongcheol; Suga, Yasuo

    A prototype of autonomous mobile robot with two vision sensors for automatic welding of steel plates was constructed. The robot can move straight, steer and turn around the robot center by controlling the driving speed of the two wheels respectively. At the tip of the movable arm, two CCD cameras are fixed. A local camera observes the welding line near the welding torch and another wide camera observes relatively wide area in front of the welding part. The robot controls the traveling speed in accordance with the shape of the welding line. In the case of straight welding line, the speed of the robot is accelerated and the welding efficiency is improved. However, if the robot finds a corner of welding line, the speed is decelerated in order to realize the precise seam tracking and stable welding. Therefore, the robot can realize precise and high speed seam-tracking by controlling the travel speed. The effectiveness of the control system is confirmed by welding experiments.

  11. Fuzzy Logic Based Autonomous Parallel Parking System with Kalman Filtering

    NASA Astrophysics Data System (ADS)

    Panomruttanarug, Benjamas; Higuchi, Kohji

    This paper presents an emulation of fuzzy logic control schemes for an autonomous parallel parking system in a backward maneuver. There are four infrared sensors sending the distance data to a microcontroller for generating an obstacle-free parking path. Two of them mounted on the front and rear wheels on the parking side are used as the inputs to the fuzzy rules to calculate a proper steering angle while backing. The other two attached to the front and rear ends serve for avoiding collision with other cars along the parking space. At the end of parking processes, the vehicle will be in line with other parked cars and positioned in the middle of the free space. Fuzzy rules are designed based upon a wall following process. Performance of the infrared sensors is improved using Kalman filtering. The design method needs extra information from ultrasonic sensors. Starting from modeling the ultrasonic sensor in 1-D state space forms, one makes use of the infrared sensor as a measurement to update the predicted values. Experimental results demonstrate the effectiveness of sensor improvement.

  12. Abnormally Malicious Autonomous Systems and their Internet Connectivity

    SciTech Connect

    Shue, Craig A; Kalafut, Prof. Andrew; Gupta, Prof. Minaxi

    2011-01-01

    While many attacks are distributed across botnets, investigators and network operators have recently targeted malicious networks through high profile autonomous system (AS) de-peerings and network shut-downs. In this paper, we explore whether some ASes indeed are safe havens for malicious activity. We look for ISPs and ASes that exhibit disproportionately high malicious behavior using ten popular blacklists, plus local spam data, and extensive DNS resolutions based on the contents of the blacklists. We find that some ASes have over 80% of their routable IP address space blacklisted. Yet others account for large fractions of blacklisted IP addresses. Several ASes regularly peer with ASes associated with significant malicious activity. We also find that malicious ASes as a whole differ from benign ones in other properties not obviously related to their malicious activities, such as more frequent connectivity changes with their BGP peers. Overall, we conclude that examining malicious activity at AS granularity can unearth networks with lax security or those that harbor cybercrime.

  13. An ecological vegetation-activated sludge process (V-ASP) for decentralized wastewater treatment: system development, treatment performance, and mathematical modeling.

    PubMed

    Yuan, Jiajia; Dong, Wenyi; Sun, Feiyun; Li, Pu; Zhao, Ke

    2016-05-01

    An environment-friendly decentralized wastewater treatment process that is comprised of activated sludge process (ASP) and wetland vegetation, named as vegetation-activated sludge process (V-ASP), was developed for decentralized wastewater treatment. The long-term experimental results evidenced that the vegetation sequencing batch reactor (V-SBR) process had consistently stable higher removal efficiencies of organic substances and nutrients from domestic wastewater compared with traditional sequencing batch reactor (SBR). The vegetation allocated into V-SBR system could not only remove nutrients through its vegetation transpiration ratio but also provide great surface area for microorganism activity enhancement. This high vegetation transpiration ratio enhanced nutrients removal effectiveness from wastewater mainly by flux enhancement, oxygen and substrate transportation acceleration, and vegetation respiration stimulation. A mathematical model based on ASM2d was successfully established by involving the specific function of vegetation to simulate system performance. The simulation results on the influence of operational parameters on V-ASP treatment effectiveness demonstrated that V-SBR had a high resistance to seasonal temperature fluctuations and influent loading shocking.

  14. [Influence of vagal stimulation by deep breathing and sham feeding on autonomic system response in healthy women].

    PubMed

    Furgała, Agata; Mazur, Marcel; Kolasińska-Kloch, Władysława; Thor, Piotr J

    2008-01-01

    Sham feeding (SF) opposite to deep breathing (DB) is not standard method for testing autonomic nervous system but is widely used for parasympathetic stimulation of gastrointestinal secretion and motility. Differences in vagal autonomic system response induced by both methods resulted from different localization of receptors and cortical and spinal autonomic centers.

  15. Robust decentralized hybrid adaptive output feedback fuzzy control for a class of large-scale MIMO nonlinear systems and its application to AHS.

    PubMed

    Huang, Yi-Shao; Liu, Wel-Ping; Wu, Min; Wang, Zheng-Wu

    2014-09-01

    This paper presents a novel observer-based decentralized hybrid adaptive fuzzy control scheme for a class of large-scale continuous-time multiple-input multiple-output (MIMO) uncertain nonlinear systems whose state variables are unmeasurable. The scheme integrates fuzzy logic systems, state observers, and strictly positive real conditions to deal with three issues in the control of a large-scale MIMO uncertain nonlinear system: algorithm design, controller singularity, and transient response. Then, the design of the hybrid adaptive fuzzy controller is extended to address a general large-scale uncertain nonlinear system. It is shown that the resultant closed-loop large-scale system keeps asymptotically stable and the tracking error converges to zero. The better characteristics of our scheme are demonstrated by simulations.

  16. Security Enhancement of Littoral Combat Ship Class Utilizing an Autonomous Mustering and Pier Monitoring System

    DTIC Science & Technology

    2010-03-01

    of-Concept System utilized and their function. Software Name Function MATLAB Performed Facial Detection, Recognition Golden FTP Server (Freeware...proposed solution is an autonomous system utilizing facial recognition software to maintain a muster of the ship’s crew, while in parallel monitoring the...generic solution are proposed. The proposed solution is an autonomous system utilizing facial recognition software to maintain a muster of the ship’s

  17. Autonomous Agents: The Origins and Co-Evolution of Reproducing Molecular Systems

    NASA Technical Reports Server (NTRS)

    Kauffman, Stuart

    1999-01-01

    The central aim of this award concerned an investigation into, and adequate formulation of, the concept of an "autonomous agent." If we consider a bacterium swimming upstream in a glucose gradient, we are willing to say of the bacterium that it is going to get food. That is, we are willing, and do, describe the bacterium as acting on its own behalf in an environment. All free living cells are, in this sense, autonomous agents. But the bacterium is "just" a set of molecules. We define an autonomous agent as a physical system able to act on its own behalf in an environment, then ask, "What must a physical system be to be an autonomous agent?" The tentative definition for a molecular autonomous agent is that it must be self-reproducing and carry out at least one thermodynamic work cycle. The work carried out in this grant involved, among other features, the development of a detailed model of a molecular autonomous agent, and study of the kinetics of this system. In particular, a molecular autonomous agent must, by the above tentative definition, not only reproduce, but must carry out at least one work cycle. I took, as a simple example of a self-reproducing molecular system, the single-stranded DNA hexamer 3'CCGCGG5' which can line up and ligate its two complementary trimers, 5'CCG3' and 5'CGG3'. But the two ligated trimers constitute the same molecular sequence in the 3' to 5' direction as the initial hexamer, hence this system is autocatalytic. On the other hand the above system is not yet an autonomous agent. At the minimum, autonomous agents, as I have defined them, are a new class of chemical reaction network. At a maximum, they may constitute a proper definition of life itself.

  18. Central and autonomic system signs with in utero drug exposure

    PubMed Central

    Bada, H; Bauer, C; Shankaran, S; Lester, B; Wright, L; Das, A; Poole, K; Smeriglio, V; Finnegan, L; Maza, P

    2002-01-01

    Aims: To determine risk for central nervous system/autonomic nervous system (CNS/ANS) signs following in utero cocaine and opiate exposure. Methods: A multisite study was designed to determine outcomes of in utero cocaine and opiate exposure. A total of 11 811 maternal/infant dyads were enrolled. Drug exposed (EXP) infants were identified by maternal self report of cocaine or opiate use or by meconium testing. Of 1185 EXP, meconium analysis confirmed exposure in 717 to cocaine (CO) only, 100 to opiates (OP), and 92 to opiates plus cocaine (OP+CO); 276 had insufficient or no meconium to confirm maternal self report. Negative exposure history was confirmed in 7442 by meconium analysis and unconfirmed in 3184. Examiners masked to exposure status, assessed each enrolled infant. Using generalised estimating equations, adjusted odds ratios (OR) and 95% confidence intervals (CI) were estimated for manifesting a constellation of CNS/ANS outcomes and for each sign associated with cocaine and opiate exposure. Results: Prevalence of CNS/ANS signs was low in CO, and highest in OP+CO. Signs were significantly related to one another. After controlling for confounders, CO was associated with increased risk of manifesting a constellation of CNS/ANS outcomes, OR (95% CI): 1.7 (1.2 to 2.2), independent of OP effect, OR (95% CI): 2.8 (2.1 to 3.7). OP+CO had additive effects, OR (95% CI): 4.8 (2.9 to 7.9). Smoking also increased the risk for the constellation of CNS/ANS signs, OR (95% CI) of 1.3 (1.04 to 1.55) and 1.4 (1.2 to 1.6), respectively, for use of less than half a pack per day and half a pack per day or more. Conclusion: Cocaine or opiate exposure increases the risk for manifesting a constellation of CNS/ANS outcomes. PMID:12193516

  19. Rapid Onboard Trajectory Design for Autonomous Spacecraft in Multibody Systems

    NASA Astrophysics Data System (ADS)

    Trumbauer, Eric Michael

    This research develops automated, on-board trajectory planning algorithms in order to support current and new mission concepts. These include orbiter missions to Phobos or Deimos, Outer Planet Moon orbiters, and robotic and crewed missions to small bodies. The challenges stem from the limited on-board computing resources which restrict full trajectory optimization with guaranteed convergence in complex dynamical environments. The approach taken consists of leveraging pre-mission computations to create a large database of pre-computed orbits and arcs. Such a database is used to generate a discrete representation of the dynamics in the form of a directed graph, which acts to index these arcs. This allows the use of graph search algorithms on-board in order to provide good approximate solutions to the path planning problem. Coupled with robust differential correction and optimization techniques, this enables the determination of an efficient path between any boundary conditions with very little time and computing effort. Furthermore, the optimization methods developed here based on sequential convex programming are shown to have provable convergence properties, as well as generating feasible major iterates in case of a system interrupt -- a key requirement for on-board application. The outcome of this project is thus the development of an algorithmic framework which allows the deployment of this approach in a variety of specific mission contexts. Test cases related to missions of interest to NASA and JPL such as a Phobos orbiter and a Near Earth Asteroid interceptor are demonstrated, including the results of an implementation on the RAD750 flight processor. This method fills a gap in the toolbox being developed to create fully autonomous space exploration systems.

  20. Space station automation study. Volume 1: Executive summary. Autonomous systems and assembly

    NASA Technical Reports Server (NTRS)

    1984-01-01

    The purpose of the Space Station Automation Study (SSAS) was to develop informed technical guidance for NASA personnel in the use of autonomy and autonomous systems to implement space station functions.

  1. Robo-AO: An Autonomous Laser Adaptive Optics and Science System

    NASA Astrophysics Data System (ADS)

    Baranec, Christoph; Riddle, Reed; Ramaprakash, A. N.; Law, Nicholas; Tendulkar, Shriharsh; Kulkarni, Shrinivas; Dekany, Richard; Bui, Khanh; Davis, Jack; Zolkower, Jeff; Fucik, Jason; Burse, Mahesh; Das, Hillol; Chordia, Pravin; Kasliwal, Mansi; Ofek, Eran; Morton, Timothy; Johnson, John

    2011-07-01

    Robo-AO, a fully autonomous, laser guide star adaptive optics and science system, is being commissioned at Palomar Observatory's 60-inch telescope. Here we discuss the instrument, scientific goals and results of initial on-sky operation.

  2. Transition-Independent Decentralized Markov Decision Processes

    NASA Technical Reports Server (NTRS)

    Becker, Raphen; Silberstein, Shlomo; Lesser, Victor; Goldman, Claudia V.; Morris, Robert (Technical Monitor)

    2003-01-01

    There has been substantial progress with formal models for sequential decision making by individual agents using the Markov decision process (MDP). However, similar treatment of multi-agent systems is lacking. A recent complexity result, showing that solving decentralized MDPs is NEXP-hard, provides a partial explanation. To overcome this complexity barrier, we identify a general class of transition-independent decentralized MDPs that is widely applicable. The class consists of independent collaborating agents that are tied up by a global reward function that depends on both of their histories. We present a novel algorithm for solving this class of problems and examine its properties. The result is the first effective technique to solve optimally a class of decentralized MDPs. This lays the foundation for further work in this area on both exact and approximate solutions.

  3. A stochastic perturbation theory for non-autonomous systems

    NASA Astrophysics Data System (ADS)

    Moon, Woosok; Wettlaufer, John

    2014-05-01

    We develop a perturbation theory for a class of first order nonlinear non-autonomous stochastic ordinary differential equations that arise in climate physics. The perturbative procedure produces moments in terms of integral delay equations, whose order by order decay is characterized in a Floquet-like sense. Both additive and multiplicative sources of noise are discussed and the question of how the nature of the noise influences the results is addressed theoretically and numerically. By invoking the Martingale property, we rationalize the transformation of the underlying Stratonovich form of the model to an Ito form, independent of whether the noise is additive or multiplicative. The generality of the analysis is demonstrated by developing it both for a Brownian particle moving in a periodically forced quartic potential, which acts as a simple model of stochastic resonance, as well as for our more complex climate physics model. The validity of the approach is shown by comparison with numerical solutions. The particular climate dynamics problem upon which we focus involves a low-order model for the evolution of Arctic sea ice under the influence of increasing greenhouse gas forcing ΔF0. The deterministic model, developed by Eisenman and Wettlaufer EW09 exhibits several transitions as ΔF0 increases and the stochastic analysis is used to understand the manner in which noise influences these transitions and the stability of the system. Eisenman, I., and J. S. Wettlaufer, 'Nonlinear threshold behavior during the loss of Arctic sea ice,' Proc. Natl. Acad. Sci. USA, 106, 28-32, 2009.

  4. A stochastic perturbation theory for non-autonomous systems

    NASA Astrophysics Data System (ADS)

    Moon, W.; Wettlaufer, J. S.

    2013-12-01

    We develop a perturbation theory for a class of first order nonlinear non-autonomous stochastic ordinary differential equations that arise in climate physics. The perturbative procedure produces moments in terms of integral delay equations, whose order by order decay is characterized in a Floquet-like sense. Both additive and multiplicative sources of noise are discussed and the question of how the nature of the noise influences the results is addressed theoretically and numerically. By invoking the Martingale property, we rationalize the transformation of the underlying Stratonovich form of the model to an Ithat{o} form, independent of whether the noise is additive or multiplicative. The generality of the analysis is demonstrated by developing it both for a Brownian particle moving in a periodically forced quartic potential, which acts as a simple model of stochastic resonance, as well as for our more complex climate physics model. The validity of the approach is shown by comparison with numerical solutions. The particular climate dynamics problem upon which we focus involves a low-order model for the evolution of Arctic sea ice under the influence of increasing greenhouse gas forcing ΔF0. The deterministic model, developed by Eisenman and Wettlaufer ["Nonlinear threshold behavior during the loss of Arctic sea ice," Proc. Natl. Acad. Sci. U.S.A. 106(1), 28-32 (2009)] exhibits several transitions as ΔF0 increases and the stochastic analysis is used to understand the manner in which noise influences these transitions and the stability of the system.

  5. A stochastic perturbation theory for non-autonomous systems

    SciTech Connect

    Moon, W.; Wettlaufer, J. S.

    2013-12-15

    We develop a perturbation theory for a class of first order nonlinear non-autonomous stochastic ordinary differential equations that arise in climate physics. The perturbative procedure produces moments in terms of integral delay equations, whose order by order decay is characterized in a Floquet-like sense. Both additive and multiplicative sources of noise are discussed and the question of how the nature of the noise influences the results is addressed theoretically and numerically. By invoking the Martingale property, we rationalize the transformation of the underlying Stratonovich form of the model to an Ito form, independent of whether the noise is additive or multiplicative. The generality of the analysis is demonstrated by developing it both for a Brownian particle moving in a periodically forced quartic potential, which acts as a simple model of stochastic resonance, as well as for our more complex climate physics model. The validity of the approach is shown by comparison with numerical solutions. The particular climate dynamics problem upon which we focus involves a low-order model for the evolution of Arctic sea ice under the influence of increasing greenhouse gas forcing ΔF{sub 0}. The deterministic model, developed by Eisenman and Wettlaufer [“Nonlinear threshold behavior during the loss of Arctic sea ice,” Proc. Natl. Acad. Sci. U.S.A. 106(1), 28–32 (2009)] exhibits several transitions as ΔF{sub 0} increases and the stochastic analysis is used to understand the manner in which noise influences these transitions and the stability of the system.

  6. An autonomous surveillance system for blind sources localization and separation

    NASA Astrophysics Data System (ADS)

    Wu, Sean; Kulkarni, Raghavendra; Duraiswamy, Srikanth

    2013-05-01

    This paper aims at developing a new technology that will enable one to conduct an autonomous and silent surveillance to monitor sound sources stationary or moving in 3D space and a blind separation of target acoustic signals. The underlying principle of this technology is a hybrid approach that uses: 1) passive sonic detection and ranging method that consists of iterative triangulation and redundant checking to locate the Cartesian coordinates of arbitrary sound sources in 3D space, 2) advanced signal processing to sanitizing the measured data and enhance signal to noise ratio, and 3) short-time source localization and separation to extract the target acoustic signals from the directly measured mixed ones. A prototype based on this technology has been developed and its hardware includes six B and K 1/4-in condenser microphones, Type 4935, two 4-channel data acquisition units, Type NI-9234, with a maximum sampling rate of 51.2kS/s per channel, one NI-cDAQ 9174 chassis, a thermometer to measure the air temperature, a camera to view the relative positions of located sources, and a laptop to control data acquisition and post processing. Test results for locating arbitrary sound sources emitting continuous, random, impulsive, and transient signals, and blind separation of signals in various non-ideal environments is presented. This system is invisible to any anti-surveillance device since it uses the acoustic signal emitted by a target source. It can be mounted on a robot or an unmanned vehicle to perform various covert operations, including intelligence gathering in an open or a confined field, or to carry out the rescue mission to search people trapped inside ruins or buried under wreckages.

  7. Hair-based sensors for micro-autonomous systems

    NASA Astrophysics Data System (ADS)

    Sadeghi, Mahdi M.; Peterson, Rebecca L.; Najafi, Khalil

    2012-06-01

    We seek to harness microelectromechanical systems (MEMS) technologies to build biomimetic devices for low-power, high-performance, robust sensors and actuators on micro-autonomous robot platforms. Hair is used abundantly in nature for a variety of functions including balance and inertial sensing, flow sensing and aerodynamic (air foil) control, tactile and touch sensing, insulation and temperature control, particle filtering, and gas/chemical sensing. Biological hairs, which are typically characterized by large surface/volume ratios and mechanical amplification of movement, can be distributed in large numbers over large areas providing unprecedented sensitivity, redundancy, and stability (robustness). Local neural transduction allows for space- and power-efficient signal processing. Moreover by varying the hair structure and transduction mechanism, the basic hair form can be used for a wide diversity of functions. In this paper, by exploiting a novel wafer-level, bubble-free liquid encapsulation technology, we make arrays of micro-hydraulic cells capable of electrostatic actuation and hydraulic amplification, which enables high force/high deflection actuation and extremely sensitive detection (sensing) at low power. By attachment of cilia (hair) to the micro-hydraulic cell, air flow sensors with excellent sensitivity (< few cm/s) and dynamic range (> 10 m/s) have been built. A second-generation design has significantly reduced the sensor response time while maintaining sensitivity of about 2 cm/s and dynamic range of more than 15 m/s. These sensors can be used for dynamic flight control of flying robots or for situational awareness in surveillance applications. The core biomimetic technologies developed are applicable to a broad range of sensors and actuators.

  8. Role of the autonomic nervous system in rat liver regeneration.

    PubMed

    Xu, Cunshuan; Zhang, Xinsheng; Wang, Gaiping; Chang, Cuifang; Zhang, Lianxing; Cheng, Qiuyan; Lu, Ailing

    2011-05-01

    To study the regulatory role of autonomic nervous system in rat regenerating liver, surgical operations of rat partial hepatectomy (PH) and its operation control (OC), sympathectomy combining partial hepatectomy (SPH), vagotomy combining partial hepatectomy (VPH), and total liver denervation combining partial hepatectomy (TDPH) were performed, then expression profiles of regenerating livers at 2 h after operation were detected using Rat Genome 230 2.0 array. It was shown that the expressions of 97 genes in OC, 230 genes in PH, 253 genes in SPH, 187 genes in VPH, and 177 genes in TDPH were significantly changed in biology. The relevance analysis showed that in SPH, genes involved in stimulus response, immunity response, amino acids and K(+) transport, amino acid catabolism, cell adhesion, cell proliferation mediated by JAK-STAT, Ca(+), and platelet-derived growth factor receptor, cell growth and differentiation through JAK-STAT were up-regulated, while the genes involved in chromatin assembly and disassembly, and cell apoptosis mediated by MAPK were down-regulated. In VPH, the genes associated with chromosome modification-related transcription factor, oxygen transport, and cell apoptosis mediated by MAPK pathway were up-regulated, but the genes associated with amino acid catabolism, histone acetylation-related transcription factor, and cell differentiation mediated by Wnt pathway were down-regulated. In TDPH, the genes related to immunity response, growth and development of regenerating liver, cell growth by MAPK pathway were up-regulated. Our data suggested that splanchnic and vagal nerves could regulate the expressions of liver regeneration-related genes.

  9. Remote wave measurements using autonomous mobile robotic systems

    NASA Astrophysics Data System (ADS)

    Kurkin, Andrey; Zeziulin, Denis; Makarov, Vladimir; Belyakov, Vladimir; Tyugin, Dmitry; Pelinovsky, Efim

    2016-04-01

    The project covers the development of a technology for monitoring and forecasting the state of the coastal zone environment using radar equipment transported by autonomous mobile robotic systems (AMRS). Sought-after areas of application are the eastern and northern coasts of Russia, where continuous collection of information on topographic changes of the coastal zone and carrying out hydrodynamic measurements in inaccessible to human environment are needed. The intensity of the reflection of waves, received by radar surveillance, is directly related to the height of the waves. Mathematical models and algorithms for processing experimental data (signal selection, spectral analysis, wavelet analysis), recalculation of landwash from data on heights of waves far from the shore, determination of the threshold values of heights of waves far from the shore have been developed. There has been developed the program complex for functioning of the experimental prototype of AMRS, comprising the following modules: data loading module, reporting module, module of georeferencing, data analysis module, monitoring module, hardware control module, graphical user interface. Further work will be connected with carrying out tests of manufactured experimental prototype in conditions of selected routes coastline of Sakhalin Island. Conducting field tests will allow to reveal the shortcomings of development and to identify ways of optimization of the structure and functioning algorithms of AMRS, as well as functioning the measuring equipment. The presented results have been obtained in Nizhny Novgorod State Technical University n.a. R. Alekseev in the framework of the Federal Target Program «Research and development on priority directions of scientific-technological complex of Russia for 2014 - 2020 years» (agreement № 14.574.21.0089 (unique identifier of agreement - RFMEFI57414X0089)).

  10. Autonomous mission planning and scheduling: Innovative, integrated, responsive

    NASA Technical Reports Server (NTRS)

    Sary, Charisse; Liu, Simon; Hull, Larry; Davis, Randy

    1994-01-01

    Autonomous mission scheduling, a new concept for NASA ground data systems, is a decentralized and distributed approach to scientific spacecraft planning, scheduling, and command management. Systems and services are provided that enable investigators to operate their own instruments. In autonomous mission scheduling, separate nodes exist for each instrument and one or more operations nodes exist for the spacecraft. Each node is responsible for its own operations which include planning, scheduling, and commanding; and for resolving conflicts with other nodes. One or more database servers accessible to all nodes enable each to share mission and science planning, scheduling, and commanding information. The architecture for autonomous mission scheduling is based upon a realistic mix of state-of-the-art and emerging technology and services, e.g., high performance individual workstations, high speed communications, client-server computing, and relational databases. The concept is particularly suited to the smaller, less complex missions of the future.

  11. An autonomous observation and control system based on EPICS and RTS2 for Antarctic telescopes

    NASA Astrophysics Data System (ADS)

    Zhang, Guang-yu; Wang, Jian; Tang, Peng-yi; Jia, Ming-hao; Chen, Jie; Dong, Shu-cheng; Jiang, Fengxin; Wu, Wen-qing; Liu, Jia-jing; Zhang, Hong-fei

    2016-01-01

    For unattended telescopes in Antarctic, the remote operation, autonomous observation and control are essential. An EPICS-(Experimental Physics and Industrial Control System) and RTS2-(Remote Telescope System, 2nd Version) based autonomous observation and control system with remoted operation is introduced in this paper. EPICS is a set of open source software tools, libraries and applications developed collaboratively and used worldwide to create distributed soft real-time control systems for scientific instruments while RTS2 is an open source environment for control of a fully autonomous observatory. Using the advantage of EPICS and RTS2, respectively, a combined integrated software framework for autonomous observation and control is established that use RTS2 to fulfil the function of astronomical observation and use EPICS to fulfil the device control of telescope. A command and status interface for EPICS and RTS2 is designed to make the EPICS IOC (Input/Output Controller) components integrate to RTS2 directly. For the specification and requirement of control system of telescope in Antarctic, core components named Executor and Auto-focus for autonomous observation is designed and implemented with remote operation user interface based on browser-server mode. The whole system including the telescope is tested in Lijiang Observatory in Yunnan Province for practical observation to complete the autonomous observation and control, including telescope control, camera control, dome control, weather information acquisition with the local and remote operation.

  12. DualTrust: A Trust Management Model for Swarm-Based Autonomic Computing Systems

    SciTech Connect

    Maiden, Wendy M.

    2010-05-01

    Trust management techniques must be adapted to the unique needs of the application architectures and problem domains to which they are applied. For autonomic computing systems that utilize mobile agents and ant colony algorithms for their sensor layer, certain characteristics of the mobile agent ant swarm -- their lightweight, ephemeral nature and indirect communication -- make this adaptation especially challenging. This thesis looks at the trust issues and opportunities in swarm-based autonomic computing systems and finds that by monitoring the trustworthiness of the autonomic managers rather than the swarming sensors, the trust management problem becomes much more scalable and still serves to protect the swarm. After analyzing the applicability of trust management research as it has been applied to architectures with similar characteristics, this thesis specifies the required characteristics for trust management mechanisms used to monitor the trustworthiness of entities in a swarm-based autonomic computing system and describes a trust model that meets these requirements.

  13. An Intelligent Control for the Distributed Flexible Network Photovoltaic System using Autonomous Control and Agent

    NASA Astrophysics Data System (ADS)

    Park, Sangsoo; Miura, Yushi; Ise, Toshifumi

    This paper proposes an intelligent control for the distributed flexible network photovoltaic system using autonomous control and agent. The distributed flexible network photovoltaic system is composed of a secondary battery bank and a number of subsystems which have a solar array, a dc/dc converter and a load. The control mode of dc/dc converter can be selected based on local information by autonomous control. However, if only autonomous control using local information is applied, there are some problems associated with several cases such as voltage drop on long power lines. To overcome these problems, the authors propose introducing agents to improve control characteristics. The autonomous control with agents is called as intelligent control in this paper. The intelligent control scheme that employs the communication between agents is applied for the model system and proved with simulation using PSCAD/EMTDC.

  14. Systems, methods and apparatus for generation and verification of policies in autonomic computing systems

    NASA Technical Reports Server (NTRS)

    Hinchey, Michael G. (Inventor); Rash, James L. (Inventor); Truszkowski, Walter F. (Inventor); Rouff, Christopher A. (Inventor); Sterritt, Roy (Inventor); Gracanin, Denis (Inventor)

    2011-01-01

    Described herein is a method that produces fully (mathematically) tractable development of policies for autonomic systems from requirements through to code generation. This method is illustrated through an example showing how user formulated policies can be translated into a formal mode which can then be converted to code. The requirements-based programming method described provides faster, higher quality development and maintenance of autonomic systems based on user formulation of policies.Further, the systems, methods and apparatus described herein provide a way of analyzing policies for autonomic systems and facilities the generation of provably correct implementations automatically, which in turn provides reduced development time, reduced testing requirements, guarantees of correctness of the implementation with respect to the policies specified at the outset, and provides a higher degree of confidence that the policies are both complete and reasonable. The ability to specify the policy for the management of a system and then automatically generate an equivalent implementation greatly improves the quality of software, the survivability of future missions, in particular when the system will operate untended in very remote environments, and greatly reduces development lead times and costs.

  15. Autonomic Nervous System Responses to Concussion: Arterial Pulse Contour Analysis

    PubMed Central

    La Fountaine, Michael F.; Toda, Michita; Testa, Anthony J.; Hill-Lombardi, Vicci

    2016-01-01

    The arterial pulse wave (APW) has a distinct morphology whose contours reflect dynamics in cardiac function and peripheral vascular tone as a result of sympathetic nervous system (SNS) control. With a transition from rest to increased metabolic demand, the expected augmentation of SNS outflow will not only affect arterial blood pressure and heart rate but it will also induce changes to the contours of the APW. Following a sports concussion, a transient state cardiovascular autonomic dysfunction is present. How this state affects the APW has yet to be described. A prospective, parallel-group study on cardiovascular autonomic control (i.e., digital electrocardiogram and continuous beat-to-beat blood pressure) was performed in the seated upright position in 10 athletes with concussion and 7 non-injured control athletes. Changes in APW were compared at rest and during the first 60 s (F60) of an isometric handgrip test (IHGT) in concussed athletes and non-injured controls within 48 h and 1 week of injury. The concussion group was further separated by the length of time until they were permitted to return to play (RTP > 1week; RTP ≤ 1week). SysSlope, an indirect measurement of stroke volume, was significantly lower in the concussion group at rest and during F60 at 48 h and 1week; a paradoxical decline in SysSlope occurred at each visit during the transition from rest to IHGT F60. The RTP > 1week group had lower SysSlope (405 ± 200; 420 ± 88; 454 ± 236 mmHg/s, respectively) at rest 48 h compared to the RTP ≤ 1week and controls. Similarly at 48 h rest, several measurements of arterial stiffness were abnormal in RTP > 1week compared to RTP ≤ 1week and controls: peak-to-notch latency (0.12 ± 0.04; 0.16 ± 0.02; 0.17 ± 0.05, respectively), notch relative amplitude (0.70 ± 0.03; 0.71 ± 0.04; 0.66 ± 0.14, respectively), and stiffness index (6.4 ± 0.2; 5.7 ± 0.4; 5.8 ± 0

  16. Teaching artificial neural systems to drive: Manual training techniques for autonomous systems

    NASA Technical Reports Server (NTRS)

    Shepanski, J. F.; Macy, S. A.

    1987-01-01

    A methodology was developed for manually training autonomous control systems based on artificial neural systems (ANS). In applications where the rule set governing an expert's decisions is difficult to formulate, ANS can be used to extract rules by associating the information an expert receives with the actions taken. Properly constructed networks imitate rules of behavior that permits them to function autonomously when they are trained on the spanning set of possible situations. This training can be provided manually, either under the direct supervision of a system trainer, or indirectly using a background mode where the networks assimilates training data as the expert performs its day-to-day tasks. To demonstrate these methods, an ANS network was trained to drive a vehicle through simulated freeway traffic.

  17. Towards robotic heart surgery: introduction of autonomous procedures into an experimental surgical telemanipulator system.

    PubMed

    Bauernschmitt, R; Schirmbeck, E U; Knoll, A; Mayer, H; Nagy, I; Wessel, N; Wildhirt, S M; Lange, R

    2005-09-01

    The introduction of telemanipulator systems into cardiac surgery enabled the heart surgeon to perform minimally invasive procedures with high precision and stereoscopic view. For further improvement and especially for inclusion of autonomous action sequences, implementation of force-feedback is necessary. The aim of our study was to provide a robotic scenario giving the surgeon an impression very similar to open procedures (high immersion) and to enable autonomous surgical knot tying with delicate suture material. In this experimental set-up the feasibility of autonomous surgical knot tying is demonstrated for the first time using stereoscopic view and force feedback.

  18. Automated Generation and Assessment of Autonomous Systems Test Cases

    NASA Technical Reports Server (NTRS)

    Barltrop, Kevin J.; Friberg, Kenneth H.; Horvath, Gregory A.

    2008-01-01

    This slide presentation reviews some of the issues concerning verification and validation testing of autonomous spacecraft routinely culminates in the exploration of anomalous or faulted mission-like scenarios using the work involved during the Dawn mission's tests as examples. Prioritizing which scenarios to develop usually comes down to focusing on the most vulnerable areas and ensuring the best return on investment of test time. Rules-of-thumb strategies often come into play, such as injecting applicable anomalies prior to, during, and after system state changes; or, creating cases that ensure good safety-net algorithm coverage. Although experience and judgment in test selection can lead to high levels of confidence about the majority of a system's autonomy, it's likely that important test cases are overlooked. One method to fill in potential test coverage gaps is to automatically generate and execute test cases using algorithms that ensure desirable properties about the coverage. For example, generate cases for all possible fault monitors, and across all state change boundaries. Of course, the scope of coverage is determined by the test environment capabilities, where a faster-than-real-time, high-fidelity, software-only simulation would allow the broadest coverage. Even real-time systems that can be replicated and run in parallel, and that have reliable set-up and operations features provide an excellent resource for automated testing. Making detailed predictions for the outcome of such tests can be difficult, and when algorithmic means are employed to produce hundreds or even thousands of cases, generating predicts individually is impractical, and generating predicts with tools requires executable models of the design and environment that themselves require a complete test program. Therefore, evaluating the results of large number of mission scenario tests poses special challenges. A good approach to address this problem is to automatically score the results

  19. Decentralized Bayesian search using approximate dynamic programming methods.

    PubMed

    Zhao, Yijia; Patek, Stephen D; Beling, Peter A

    2008-08-01

    We consider decentralized Bayesian search problems that involve a team of multiple autonomous agents searching for targets on a network of search points operating under the following constraints: 1) interagent communication is limited; 2) the agents do not have the opportunity to agree in advance on how to resolve equivalent but incompatible strategies; and 3) each agent lacks the ability to control or predict with certainty the actions of the other agents. We formulate the multiagent search-path-planning problem as a decentralized optimal control problem and introduce approximate dynamic heuristics that can be implemented in a decentralized fashion. After establishing some analytical properties of the heuristics, we present computational results for a search problem involving two agents on a 5 x 5 grid.

  20. Decentralized formation flying control in a multiple-team hierarchy.

    PubMed

    Mueller, Joseph B; Thomas, Stephanie J

    2005-12-01

    In recent years, formation flying has been recognized as an enabling technology for a variety of mission concepts in both the scientific and defense arenas. Examples of developing missions at NASA include magnetospheric multiscale (MMS), solar imaging radio array (SIRA), and terrestrial planet finder (TPF). For each of these missions, a multiple satellite approach is required in order to accomplish the large-scale geometries imposed by the science objectives. In addition, the paradigm shift of using a multiple satellite cluster rather than a large, monolithic spacecraft has also been motivated by the expected benefits of increased robustness, greater flexibility, and reduced cost. However, the operational costs of monitoring and commanding a fleet of close-orbiting satellites is likely to be unreasonable unless the onboard software is sufficiently autonomous, robust, and scalable to large clusters. This paper presents the prototype of a system that addresses these objectives-a decentralized guidance and control system that is distributed across spacecraft using a multiple team framework. The objective is to divide large clusters into teams of "manageable" size, so that the communication and computation demands driven by N decentralized units are related to the number of satellites in a team rather than the entire cluster. The system is designed to provide a high level of autonomy, to support clusters with large numbers of satellites, to enable the number of spacecraft in the cluster to change post-launch, and to provide for on-orbit software modification. The distributed guidance and control system will be implemented in an object-oriented style using a messaging architecture for networking and threaded applications (MANTA). In this architecture, tasks may be remotely added, removed, or replaced post launch to increase mission flexibility and robustness. This built-in adaptability will allow software modifications to be made on-orbit in a robust manner. The

  1. Systems, methods and apparatus for modeling, specifying and deploying policies in autonomous and autonomic systems using agent-oriented software engineering

    NASA Technical Reports Server (NTRS)

    Hinchey, Michael G. (Inventor); Penn, Joaquin (Inventor); Sterritt, Roy (Inventor)

    2011-01-01

    Systems, methods and apparatus are provided through which in some embodiments, an agent-oriented specification modeled with MaCMAS, is analyzed, flaws in the agent-oriented specification modeled with MaCMAS are corrected, and an implementation is derived from the corrected agent-oriented specification. Described herein are systems, method and apparatus that produce fully (mathematically) tractable development of agent-oriented specification(s) modeled with methodology fragment for analyzing complex multiagent systems (MaCMAS) and policies for autonomic systems from requirements through to code generation. The systems, method and apparatus described herein are illustrated through an example showing how user formulated policies can be translated into a formal mode which can then be converted to code. The requirements-based programming systems, method and apparatus described herein may provide faster, higher quality development and maintenance of autonomic systems based on user formulation of policies.

  2. Autonomous urban reconnaissance ingress system (AURIS): providing a tactically relevant autonomous door-opening kit for unmanned ground vehicles

    NASA Astrophysics Data System (ADS)

    Shane, David J.; Rufo, Michael A.; Berkemeier, Matthew D.; Alberts, Joel A.

    2012-06-01

    The Autonomous Urban Reconnaissance Ingress System (AURIS™) addresses a significant limitation of current military and first responder robotics technology: the inability of reconnaissance robots to open doors. Leveraging user testing as a baseline, the program has derived specifications necessary for military personnel to open doors with fielded UGVs (Unmanned Ground Vehicles), and evaluates the technology's impact on operational mission areas: duration, timing, and user patience in developing a tactically relevant, safe, and effective system. Funding is provided through the US ARMY Tank Automotive Research, Development and Engineering Center (TARDEC) and the project represents a leap forward in perception, autonomy, robotic implements, and coordinated payload operation in UGVs. This paper describes high level details of specification generation, status of the last phase of development, an advanced view of the system autonomy capability, and a short look ahead towards the ongoing work on this compelling and important technology.

  3. Diabetic autonomic neuropathy.

    PubMed

    Freeman, Roy

    2014-01-01

    Diabetes mellitus is the commonest cause of an autonomic neuropathy in the developed world. Diabetic autonomic neuropathy causes a constellation of symptoms and signs affecting cardiovascular, urogenital, gastrointestinal, pupillomotor, thermoregulatory, and sudomotor systems. Several discrete syndromes associated with diabetes cause autonomic dysfunction. The most prevalent of these are: generalized diabetic autonomic neuropathy, autonomic neuropathy associated with the prediabetic state, treatment-induced painful and autonomic neuropathy, and transient hypoglycemia-associated autonomic neuropathy. These autonomic manifestations of diabetes are responsible for the most troublesome and disabling features of diabetic peripheral neuropathy and result in a significant proportion of the mortality and morbidity associated with the disease.

  4. Autonomous intelligent assembly systems LDRD 105746 final report.

    SciTech Connect

    Anderson, Robert J.

    2013-04-01

    This report documents a three-year to develop technology that enables mobile robots to perform autonomous assembly tasks in unstructured outdoor environments. This is a multi-tier problem that requires an integration of a large number of different software technologies including: command and control, estimation and localization, distributed communications, object recognition, pose estimation, real-time scanning, and scene interpretation. Although ultimately unsuccessful in achieving a target brick stacking task autonomously, numerous important component technologies were nevertheless developed. Such technologies include: a patent-pending polygon snake algorithm for robust feature tracking, a color grid algorithm for uniquely identification and calibration, a command and control framework for abstracting robot commands, a scanning capability that utilizes a compact robot portable scanner, and more. This report describes this project and these developed technologies.

  5. Long-Duration Environmentally-Adaptive Autonomous Rigorous Naval Systems

    DTIC Science & Technology

    2015-09-30

    modeling and prediction, meteorology and numerical weather prediction. In particular, smoothing has a critical role to play in reanalysis, target tracking...will start implementing and improving such schemes in realistic codes for physical, biological and acoustic ocean dynamics. We expect to further...realistic ocean fields and/or participate to sea exercises, aiming to couple ocean- acoustic predictions, uncertainty prediction, autonomous strategies for

  6. [Labor relations under decentralized health management and dilemmas in the relationship between work expansion and casualization in the Brazilian Unified National Health System].

    PubMed

    Junqueira, Túlio da Silva; Cotta, Rosângela Minardi Mitre; Gomes, Ricardo Corrêa; Silveira, Suely de Fátima Ramos; Siqueira-Batista, Rodrigo; Pinheiro, Tarcísio Márcio Magalhães; Sampaio, Rosana Ferreira

    2010-05-01

    This article analyzes the logic behind human resources management in primary health care from the perspective of municipal health systems administrators in Brazil, rethinking the decentralization process based on mediation between Federal government guidelines and the health services' daily practice. This was a cross-sectional study using a semi-structured questionnaire applied to municipal health secretaries in the Southeastern Health Macro-Region (Minas Gerais State). The municipal health secretaries had a mean age of 39.4 years and low schooling, and a large proportion did not belong to the health field. As for the workforce in the Family Health Program, the municipal governments hired 93.3% of the health professionals, mostly on temporary contracts. The findings confirm gaps in the workers' political and social rights. Paradoxically, the government itself, through the municipal administration, is responsible for failing to comply with the prevailing labor legislation.

  7. Autonomous path-planning navigation system for site characterization

    NASA Astrophysics Data System (ADS)

    Rankin, Arturo L.; Crane, Carl D., III; Armstrong, David G., II; Nease, Allen D.; Brown, H. Edward

    1996-05-01

    The location and removal of buried munitions is an important yet hazardous task. Current development is aimed at performing both the ordnance location and removal tasks autonomously. An autonomous survey vehicle (ASV) named the Gator has been developed at the Center for Intelligent Machines and Robotics, under the direction of Wright Laboratory, Tyndall Air Force Base, Florida, and the Navy Explosive Ordnance Disposal Technology Division, Indian Head, Maryland. The primary task of the survey vehicle is to autonomously traverse an off-road site, towing behind it a trailer containing a sensor package capable of characterizing the sub-surface contents. Achieving 00 percent coverage of the site is critical to fully characterizing the site. This paper presents a strategy for planning efficient paths for the survey vehicle that guarantees near-complete coverage of a site. A small library of three in-house developed path planners are reviewed. A strategy is also presented to keep the trailer on-path and to calculate the percent of coverage of a site with a resolution of 0.01 m2. All of the algorithms discussed in this paper were initially developed in simulation on a Silicon Graphics computer and subsequently implemented on the survey vehicle.

  8. [Diabetic neuropathy. III: Autonomic neuropathy. Genito-urinary system].

    PubMed

    Gentile, S; Bronzino, P; Persico, M; Marmo, R; Costume, A; Contaldi, P; Stroffolini, T

    1984-04-21

    When considering urogenital complaints occurring during diabetic autonomous neurotherapy , three clinical situations are important due to their frequency and the clinical situation, the considerable effect they have on quality of life. In addition they may also be responsible for severe complications as in the case of diabetic cystopathy . This syndrome is the cause of considerable subjective disturbances even though it may be diagnosed instrumentally in its early, completely asymptomatic stage. The complaint evolves inevitably towards bladder denervation, chronic urinary retention and more or less severe septic complications. Retrograde ejaculation may lead to the loss of procreative ability as in the case of neurogenic impotence in diabetics. These three autonomous neuropathic situations occur quite frequently, especially in older subjects who have suffered from diabetes for more than ten years. Often the three syndromes are interconnected or linked to autonomous or peripheric neuropathic complaints affecting other areas. The few therapeutic measures practised have not proved very conclusive. Only a diligent examination of signs and symptoms with the aim of early diagnosis and the maintenance of good glycometabolic balance are considered to be at all effective as preventive measures.

  9. Effectiveness and driver acceptance of a semi-autonomous forward obstacle collision avoidance system.

    PubMed

    Itoh, Makoto; Horikome, Tatsuya; Inagaki, Toshiyuki

    2013-09-01

    This paper proposes a semi-autonomous collision avoidance system for the prevention of collisions between vehicles and pedestrians and objects on a road. The system is designed to be compatible with the human-centered automation principle, i.e., the decision to perform a maneuver to avoid a collision is made by the driver. However, the system is partly autonomous in that it turns the steering wheel independently when the driver only applies the brake, indicating his or her intent to avoid the obstacle. With a medium-fidelity driving simulator, we conducted an experiment to investigate the effectiveness of this system for improving safety in emergency situations, as well as its acceptance by drivers. The results indicate that the system effectively improves safety in emergency situations, and the semi-autonomous characteristic of the system was found to be acceptable to drivers.

  10. An Autonomous Control System for an Intra-Vehicular Spacecraft Mobile Monitor Prototype

    NASA Technical Reports Server (NTRS)

    Dorais, Gregory A.; Desiano, Salvatore D.; Gawdiak, Yuri; Nicewarner, Keith

    2003-01-01

    This paper presents an overview of an ongoing research and development effort at the NASA Ames Research Center to create an autonomous control system for an internal spacecraft autonomous mobile monitor. It primary functions are to provide crew support and perform intra- vehicular sensing activities by autonomously navigating onboard the International Space Station. We describe the mission roles and high-level functional requirements for an autonomous mobile monitor. The mobile monitor prototypes, of which two are operational and one is actively being designed, physical test facilities used to perform ground testing, including a 3D micro-gravity test facility, and simulators are briefly described. We provide an overview of the autonomy framework and describe each of its components, including those used for automated planning, goal-oriented task execution, diagnosis, and fault recovery. A sample mission test scenario is also described.

  11. Decentralized track fusion in dynamic networks

    NASA Astrophysics Data System (ADS)

    Nicholson, David; Deaves, Rob H.

    2000-07-01

    Decentralized systems merit a detailed analysis in view of the potential advantages that they offer. These include significant improvements in fault tolerance, modularity and scalability. Such attributes are required by a number of systems that are currently being planned within the defence and civil aerosense sectors. A recognized difficulty with the decentralized network architecture is the potential it creates for redundant data to proliferate as a result of cyclic information flows. This can lead to estimation biases and divergence. Solutions which require the network information sources to be tagged in some way are not generally possible without relaxing some of the constraints on which the decentralized paradigm is founded. This paper consequently investigates a different approach. Specifically, it examines the application of the Covariance Intersection (CI) data fusion technique. CI is relevant to the redundant data problem because it guarantees consistent estimates without requiring correlations to be maintained. The estimation performance of CI is compared here, with respect to a restricted Kalman approach, for a dynamic multi-platform network example. It is concluded that a hybrid CI/Kalman approach offers the best solution, since it exploits known independent information and unknown correlated information without having to relax the decentralized constraints.

  12. Disorder of autonomic nervous system and its vulnerability to external stimulation in functional dyspepsia

    PubMed Central

    Tominaga, Kazunari; Fujikawa, Yoshiko; Tsumoto, Chikako; Kadouchi, Kaori; Tanaka, Fumio; Kamata, Noriko; Yamagami, Hirokazu; Tanigawa, Tetsuya; Watanabe, Toshio; Fujiwara, Yasuhiro; Arakawa, Tetsuo

    2016-01-01

    To elucidate the role of autonomic nervous system in functional dyspepsia patients, we examined 24-h heart rate variability: the basal levels, responses after lunch, cold pressor and mental arithmetic tests, and the efficacy of an autonomic drug (tofisopam). The high-frequency component (HF: 0.15–0.40 Hz) and the ratio of HF to the low-frequency component (LF: 0.04–0.15 Hz; LF/HF ratio) were used as indicators of parasympathetic and sympathetic autonomic nervous system function. The HF component in the 24-h, daytime, and nighttime was low in 86.7%, 97.8%, and 66.7% of patients (n = 45) and the LF/HF ratio was high in 51.1%, 73.3%, and 26.6% of patients. Gastrointestinal symptom tended to be severe in patients with autonomic nervous system disorder (p = 0.085). The abnormal response in HF component after lunch occurred in 38.2% (13/34) of patients who revealed a greater tendency towards in indigestion score (p = 0.061). Delays in recovery to the basal autonomic nervous system level after stimulus of the cold pressor and the mental arithmetic tests occurred in parts of patients. Tofisopam partially improved autonomic nervous system dysfunction and abdominal pain/indigestion. Imbalanced autonomic nervous system function and vulnerability for recovery from external stimuli were observed in functional dyspepsia patients, which was associated with dyspeptic symptoms. PMID:27013784

  13. Toward a mobile autonomous robotic system for Mars exploration

    NASA Astrophysics Data System (ADS)

    Arena, P.; Di Giamberardino, P.; Fortuna, L.; La Gala, F.; Monaco, S.; Muscato, G.; Rizzo, A.; Ronchini, R.

    2004-01-01

    The paper deals with the results obtained up to now in the design and realization of mobile platforms, wheeled and legged ones, for autonomous deployment in unknown and hostile environments: a work developed in the framework of a project supported by the Italian Space Agency. The paper is focused on the description of the hierarchical architecture adopted for the planning, the supervision and the control of their mobility. Experimental results validate the solutions proposed, evidencing the capabilities of the platforms to explore environments in presence of irregular ground shape and obstacles of different dimensions.

  14. Materials learning from life: concepts for active, adaptive and autonomous molecular systems.

    PubMed

    Merindol, Rémi; Walther, Andreas

    2017-01-30

    Bioinspired out-of-equilibrium systems will set the scene for the next generation of molecular materials with active, adaptive, autonomous, emergent and intelligent behavior. Indeed life provides the best demonstrations of complex and functional out-of-equilibrium systems: cells keep track of time, communicate, move, adapt, evolve and replicate continuously. Stirred by the understanding of biological principles, artificial out-of-equilibrium systems are emerging in many fields of soft matter science. Here we put in perspective the molecular mechanisms driving biological functions with the ones driving synthetic molecular systems. Focusing on principles that enable new levels of functionalities (temporal control, autonomous structures, motion and work generation, information processing) rather than on specific material classes, we outline key cross-disciplinary concepts that emerge in this challenging field. Ultimately, the goal is to inspire and support new generations of autonomous and adaptive molecular devices fueled by self-regulating chemistry.

  15. Autonomous power expert fault diagnostic system for Space Station Freedom electrical power system testbed

    NASA Technical Reports Server (NTRS)

    Truong, Long V.; Walters, Jerry L.; Roth, Mary Ellen; Quinn, Todd M.; Krawczonek, Walter M.

    1990-01-01

    The goal of the Autonomous Power System (APS) program is to develop and apply intelligent problem solving and control to the Space Station Freedom Electrical Power System (SSF/EPS) testbed being developed and demonstrated at NASA Lewis Research Center. The objectives of the program are to establish artificial intelligence technology paths, to craft knowledge-based tools with advanced human-operator interfaces for power systems, and to interface and integrate knowledge-based systems with conventional controllers. The Autonomous Power EXpert (APEX) portion of the APS program will integrate a knowledge-based fault diagnostic system and a power resource planner-scheduler. Then APEX will interface on-line with the SSF/EPS testbed and its Power Management Controller (PMC). The key tasks include establishing knowledge bases for system diagnostics, fault detection and isolation analysis, on-line information accessing through PMC, enhanced data management, and multiple-level, object-oriented operator displays. The first prototype of the diagnostic expert system for fault detection and isolation has been developed. The knowledge bases and the rule-based model that were developed for the Power Distribution Control Unit subsystem of the SSF/EPS testbed are described. A corresponding troubleshooting technique is also described.

  16. Robo-AO: The First Autonomous Laser Guide Star Adaptive Optics System for Small Telescopes

    NASA Astrophysics Data System (ADS)

    Riddle, Reed L.; Baranec, C.; Ramaprakash, A. N.; Law, N.; Tendulkar, S.; Kulkarni, S.; Bui, K.; Burse, M.; Chordia, P.; Das, H.; Dekany, R.; Kasliwal, M.; Ofek, E.; Zolkower, J.

    2011-01-01

    Robo-AO will be the first fully autonomous laser guide star adaptive optics and science system. Specifically designed to take advantage of small (1 to 3 meter) telescopes, Robo-AO will deliver high angular resolution science in the visible and near infrared for up to hundreds of targets per night. This will enable the exploration of science programs not practical for larger aperture adaptive optics systems. This presentation discusses the current status of the Robo-AO project, including the laboratory testbed, laser guide star facility and plans for a demonstration of the fully autonomous system next year.

  17. Validation of a rapid DNA process with the RapidHIT(®) ID system using GlobalFiler(®) Express chemistry, a platform optimized for decentralized testing environments.

    PubMed

    Salceda, Susana; Barican, Arnaldo; Buscaino, Jacklyn; Goldman, Bruce; Klevenberg, Jim; Kuhn, Melissa; Lehto, Dennis; Lin, Frank; Nguyen, Phong; Park, Charles; Pearson, Francesca; Pittaro, Rick; Salodkar, Sayali; Schueren, Robert; Smith, Corey; Troup, Charles; Tsou, Dean; Vangbo, Mattias; Wunderle, Justus; King, David

    2017-05-01

    The RapidHIT(®) ID is a fully automated sample-to-answer system for short tandem repeat (STR)-based human identification. The RapidHIT ID has been optimized for use in decentralized environments and processes presumed single source DNA samples, generating Combined DNA Index System (CODIS)-compatible DNA profiles in less than 90min. The system is easy to use, requiring less than one minute of hands-on time. Profiles are reviewed using centralized linking software, RapidLINK™ (IntegenX, Pleasanton, CA), a software tool designed to collate DNA profiles from single or multiple RapidHIT ID systems at different geographic locations. The RapidHIT ID has been designed to employ GlobalFiler(®) Express and AmpFLSTR(®) NGMSElect™, Thermo Fisher Scientific (Waltham, MA) STR chemistries. The Developmental Validation studies were performed using GlobalFiler(®) Express with single source reference samples according to Scientific Working Group for DNA Analysis Methods guidelines. These results show that multiple RapidHIT ID systems networked with RapidLINK software form a highly reliable system for wide-scale deployment in locations such as police booking stations and border crossings enabling real-time testing of arrestees, potential human trafficking victims, and other instances where rapid turnaround is essential.

  18. Convergence of Asymptotic Systems of Non-autonomous Neural Network Models with Infinite Distributed Delays

    NASA Astrophysics Data System (ADS)

    Oliveira, José J.

    2017-02-01

    In this paper, we investigate the global convergence of solutions of non-autonomous Hopfield neural network models with discrete time-varying delays, infinite distributed delays, and possible unbounded coefficient functions. Instead of using Lyapunov functionals, we explore intrinsic features between the non-autonomous systems and their asymptotic systems to ensure the boundedness and global convergence of the solutions of the studied models. Our results are new and complement known results in the literature. The theoretical analysis is illustrated with some examples and numerical simulations.

  19. The Use of Software Agents for Autonomous Control of a DC Space Power System

    NASA Technical Reports Server (NTRS)

    May, Ryan D.; Loparo, Kenneth A.

    2014-01-01

    In order to enable manned deep-space missions, the spacecraft must be controlled autonomously using on-board algorithms. A control architecture is proposed to enable this autonomous operation for an spacecraft electric power system and then implemented using a highly distributed network of software agents. These agents collaborate and compete with each other in order to implement each of the control functions. A subset of this control architecture is tested against a steadystate power system simulation and found to be able to solve a constrained optimization problem with competing objectives using only local information.

  20. New vision system and navigation algorithm for an autonomous ground vehicle

    NASA Astrophysics Data System (ADS)

    Tann, Hokchhay; Shakya, Bicky; Merchen, Alex C.; Williams, Benjamin C.; Khanal, Abhishek; Zhao, Jiajia; Ahlgren, David J.

    2013-12-01

    Improvements were made to the intelligence algorithms of an autonomously operating ground vehicle, Q, which competed in the 2013 Intelligent Ground Vehicle Competition (IGVC). The IGVC required the vehicle to first navigate between two white lines on a grassy obstacle course, then pass through eight GPS waypoints, and pass through a final obstacle field. Modifications to Q included a new vision system with a more effective image processing algorithm for white line extraction. The path-planning algorithm adopted the vision system, creating smoother, more reliable navigation. With these improvements, Q successfully completed the basic autonomous navigation challenge, finishing tenth out of over 50 teams.

  1. Sleep, sleep deprivation, autonomic nervous system and cardiovascular diseases.

    PubMed

    Tobaldini, Eleonora; Costantino, Giorgio; Solbiati, Monica; Cogliati, Chiara; Kara, Tomas; Nobili, Lino; Montano, Nicola

    2017-03-01

    Sleep deprivation (SD) has become a relevant health problem in modern societies. We can be sleep deprived due to lifestyle habits or due to sleep disorders, such as insomnia, obstructive sleep apnea (OSA) and neurological disorders. One of the common element of sleep disorders is the condition of chronic SD, which has complex biological consequences. SD is capable of inducing different biological effects, such as neural autonomic control changes, increased oxidative stress, altered inflammatory and coagulatory responses and accelerated atherosclerosis. All these mechanisms links SD and cardiovascular and metabolic disorders. Epidemiological studies have shown that short sleep duration is associated with increased incidence of cardiovascular diseases, such as coronary artery disease, hypertension, arrhythmias, diabetes and obesity, after adjustment for socioeconomic and demographic risk factors and comorbidities. Thus, an early assessment of a condition of SD and its treatment is clinically relevant to prevent the harmful consequences of a very common condition in adult population.

  2. Multi-Window Controllers for Autonomous Space Systems

    NASA Technical Reports Server (NTRS)

    Lurie, B, J.; Hadaegh, F. Y.

    1997-01-01

    Multi-window controllers select between elementary linear controllers using nonlinear windows based on the amplitude and frequency content of the feedback error. The controllers are relatively simple to implement and perform much better than linear controllers. The commanders for such controllers only order the destination point and are freed from generating the command time-profiles. The robotic missions rely heavily on the tasks of acquisition and tracking. For autonomous and optimal control of the spacecraft, the control bandwidth must be larger while the feedback can (and, therefore, must) be reduced.. Combining linear compensators via multi-window nonlinear summer guarantees minimum phase character of the combined transfer function. It is shown that the solution may require using several parallel branches and windows. Several examples of multi-window nonlinear controller applications are presented.

  3. Autonomic nervous system profile in fibromyalgia patients and its modulation by exercise: a mini review.

    PubMed

    Kulshreshtha, Poorvi; Deepak, Kishore K

    2013-03-01

    This review imparts an impressionistic tone to our current understanding of autonomic nervous system abnormalities in fibromyalgia. In the wake of symptoms present in patients with fibromyalgia (FM), autonomic dysfunction seems plausible in fibromyalgia. A popular notion is that of a relentless sympathetic hyperactivity and hyporeactivity based on heart rate variability (HRV) analyses and responses to various physiological stimuli. However, some exactly opposite findings suggesting normal/hypersympathetic reactivity in patients with fibromyalgia do exist. This heterogeneous picture along with multiple comorbidities accounts for the quantitative and qualitative differences in the degree of dysautonomia present in patients with FM. We contend that HRV changes in fibromyalgia may not actually represent increased cardiac sympathetic tone. Normal muscle sympathetic nerve activity (MSNA) and normal autonomic reactivity tests in patients with fibromyalgia suggest defective vascular end organ in fibromyalgia. Previously, we proposed a model linking deconditioning with physical inactivity resulting from widespread pain in patients with fibromyalgia. Deconditioning also modulates the autonomic nervous system (high sympathetic tone and a low parasympathetic tone). A high peripheral sympathetic tone causes regional ischaemia, which in turn results in widespread pain. Thus, vascular dysregulation and hypoperfusion in patients with FM give rise to ischaemic pain leading to physical inactivity. Microvascular abnormalities are also found in patients with FM. Therapeutic interventions (e.g. exercise) that result in vasodilatation and favourable autonomic alterations have proven to be effective. In this review, we focus on the vascular end organ in patients with fibromyalgia in particular and its modulation by exercise in general.

  4. A testbed for a unified teleoperated-autonomous dual-arm robotic system

    NASA Technical Reports Server (NTRS)

    Hayati, S.; Lee, T.; Tso, K.; Backes, P.; Lloyd, J.

    1990-01-01

    This paper describes a complete robot control facility built at the Jet Propulsion Laboratory as part of NASA a telerobotics program to develop a state-of-the-art robot control environment for laboratory based space-like experiments. This system, which is now fully operational, has the following features: separation of the computing facilities into local and remote sites, autonomous motion generation in joint or Cartesian coordinates, dual-arm force reflecting teleoperation with voice interaction between the operator and the robots, shared control between the autonomously generated motions and operator controlled teleoperation, and dual-arm coordinated trajectory generation. The system has been used to carry out realistic experiments such as the exchange of an Orbital Replacement Unit (ORU), bolt turning, and door opening, using a mixture of autonomous actions and teleoperation, with either a single arm or two cooperating arms.

  5. Aladdin: a semi-autonomous door opening system for EOD-class robots

    NASA Astrophysics Data System (ADS)

    Craft, Jack; Wilson, Jack; Huang, Wesley H.; Claffee, Mark R.; Phillips, Emilie A.

    2011-05-01

    This paper describes our results to date on the Aladdin project, an ongoing effort to enable small UGVs to open doors semi-autonomously. Our system consists of a modular general-purpose gripper and software that provides semiautonomous capabilities. The gripper features compliant elements which simplify operations such as turning a doorknob and opening a door; this gripper can be retrofitted onto existing general-purpose robotic manipulators without extensive hardware modifications. The software provides semi-autonomous door opening capability through an OCU; these capabilities are focused on targeting and reaching for a doorknob, a subtask that our initial testing showed would provide the greatest improvement in door opening operations. This paper describes our system and the results of our evaluations on the door opening task. We continue to develop both the hardware and software with the ultimate goal of fully autonomous door-opening.

  6. Investigating autonomic control of the cardiovascular system: a battery of simple tests.

    PubMed

    Johnson, Christopher D; Roe, Sean; Tansey, Etain A

    2013-12-01

    Sympathetic and parasympathetic divisions of the autonomic nervous system constantly control the heart (sympathetic and parasympathetic divisions) and blood vessels (predominantly the sympathetic division) to maintain appropriate blood pressure and organ blood flow over sometimes widely varying conditions. This can be adversely affected by pathological conditions that can damage one or both branches of autonomic control. The set of teaching laboratory activities outlined here uses various interventions, namely, 1) the heart rate response to deep breathing, 2) the heart rate response to a Valsalva maneuver, 3) the heart rate response to standing, and 4) the blood pressure response to standing, that cause fairly predictable disturbances in cardiovascular parameters in normal circumstances, which serve to demonstrate the dynamic control of the cardiovascular system by autonomic nerves. These tests are also used clinically to help investigate potential damage to this control.

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

    NASA Astrophysics Data System (ADS)

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

    2013-12-01

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

  8. Wastewater and greywater reuse on irrigation in centralized and decentralized systems--an integrated approach on water quality, energy consumption and CO2 emissions.

    PubMed

    Matos, C; Pereira, S; Amorim, E V; Bentes, I; Briga-Sá, A

    2014-09-15

    Wastewater and greywater have different scales of end-uses in irrigation in Portugal. Wastewater is treated in a central wastewater treatment plant and reused in public/private large areas of irrigation, like agriculture, public gardens and golf courses. On the contrary, greywater reuse is generally applied in in situ small scales, treated and used in the same place, generally in the production site. The main aim of this paper is to compare the two types of systems: a wastewater centralized reuse system (WWCRS) and a greywater decentralized reuse system (GWDRS) in terms of water quality, energy consumption and CO2 emissions. In this paper, the main characteristics of both streams are presented and the degree of treatment required in each stream is analyzed. The advantages and disadvantages of its reuse in different scales, in terms of water quality, energy consumption and CO2 emissions are discussed. A methodology to calculate the energy consumptions and CO2 emissions related to wastewater treatment that may be applied in different cases is presented. A hypothetical example of the two systems: one referring to a WWCRS and the other to a GWDRS is presented. The energy consumption and the CO2 emissions are analyzed and compared. The WWCRS needs a higher degree of treatment and so it spends more energy and leads to more CO2 emissions to the environment than the GWDRS that consumed between 11.8 and 37.5% of the energy consumed in the WWCRS considering the same number of inhabitants served.

  9. Holarchical Systems and Emotional Holons : Biologically-Inspired System Designs for Control of Autonomous Aerial Vehicles

    NASA Technical Reports Server (NTRS)

    Ippolito, Corey; Plice, Laura; Pisanich, Greg

    2003-01-01

    The BEES (Bio-inspired Engineering for Exploration Systems) for Mars project at NASA Ames Research Center has the goal of developing bio-inspired flight control strategies to enable aerial explorers for Mars scientific investigations. This paper presents a summary of our ongoing research into biologically inspired system designs for control of unmanned autonomous aerial vehicle communities for Mars exploration. First, we present cooperative design considerations for robotic explorers based on the holarchical nature of biological systems and communities. Second, an outline of an architecture for cognitive decision making and control of individual robotic explorers is presented, modeled after the emotional nervous system of cognitive biological systems. Keywords: Holarchy, Biologically Inspired, Emotional UAV Flight Control

  10. Experimenting with Decentralization: The Politics of Change.

    ERIC Educational Resources Information Center

    Wohlstetter, Priscilla

    The relationship between the political context of school districts and their choices of decentralization policy is explored in this paper. It was expected that district politics would affect decentralization policies in two ways: the form of decentralization adopted and the degree of change. The decision to decentralize in three large urban school…

  11. Cardiovascular and autonomic modulation by the central nervous system after aerobic exercise training.

    PubMed

    Martins-Pinge, M C

    2011-09-01

    The autonomic nervous system plays a key role in maintaining homeostasis under normal and pathological conditions. The sympathetic tone, particularly for the cardiovascular system, is generated by sympathetic discharges originating in specific areas of the brainstem. Aerobic exercise training promotes several cardiovascular adjustments that are influenced by the central areas involved in the output of the autonomic nervous system. In this review, we emphasize the studies that investigate aerobic exercise training protocols to identify the cardiovascular adaptations that may be the result of central nervous system plasticity due to chronic exercise. The focus of our study is on some groups of neurons involved in sympathetic regulation. They include the nucleus tractus solitarii, caudal ventrolateral medulla and the rostral ventrolateral medulla that maintain and regulate the cardiac and vascular autonomic tonus. We also discuss studies that demonstrate the involvement of supramedullary areas in exercise training modulation, with emphasis on the paraventricular nucleus of the hypothalamus, an important area of integration for autonomic and neuroendocrine responses. The results of these studies suggest that the beneficial effects of physical activity may be due, at least in part, to reductions in sympathetic nervous system activity. Conversely, with the recent association of physical inactivity with chronic disease, these data may also suggest that increases in sympathetic nervous system activity contribute to the increased incidence of cardiovascular diseases associated with a sedentary lifestyle.

  12. [The autonomic nervous system and blood circulation system during different modes of anesthetic coinduction].

    PubMed

    Mikaelian, K P; Zaĭtsev, A Iu; Svetlov, V A; Golovkin, A S

    2009-01-01

    The autonomic nervous system (ANS) at the stage of induction was studied in 128 spinal surgical patients with chronic pain syndrome (CPS) (ASA 2-3). In all groups premedication was similar (diazepam 10 mg i.m.), intramuscular and intravenous atropine 0.5 was additionally injected in Groups 3 and 4, respectively. Introductory anesthesia used 4 coinduction modes: thiopental, fentanyl, and propofol (Group 1); propofol and fentanyl (Group 2); propofol, medazolam, and fentanyl (Groups 3 and 4). BIS monitoring was used to evaluate the impact of anesthesia and sedation on the central nervous system; autonomic screening and the Kerdo index were employed for the ANS. Intraoperative circulatory function was controlled by the values of blood pressure, heart rate, stroke index, cardiac index (CI), total peripheral resistance, and double product. Assessment of the time course of changes in ANS tone in patients with CPS indicated that after premedication, the number of parasympathotonics ranged up to 82% and that of normo- and sympathotonics was reduced to 13 and 5%, respectively. During induction with vagotonic agents, ignoring the baseline ANS tone was followed by a progression of the parasympathetic reaction of the circulatory system as a drop of CI to the low values of relevant dissadjustment in the hypokinetic hemodynamic type. There was a transition of ANS tone to physiological sympathicotonia and, accordingly, to the eukinetic circulatory type during coinduction mode 4 that suppressed vagus reflex.

  13. Experiments and simulation models of a basic computation element of an autonomous molecular computing system.

    PubMed

    Takinoue, Masahiro; Kiga, Daisuke; Shohda, Koh-Ichiroh; Suyama, Akira

    2008-10-01

    Autonomous DNA computers have been attracting much attention because of their ability to integrate into living cells. Autonomous DNA computers can process information through DNA molecules and their molecular reactions. We have already proposed an idea of an autonomous molecular computer with high computational ability, which is now named Reverse-transcription-and-TRanscription-based Autonomous Computing System (RTRACS). In this study, we first report an experimental demonstration of a basic computation element of RTRACS and a mathematical modeling method for RTRACS. We focus on an AND gate, which produces an output RNA molecule only when two input RNA molecules exist, because it is one of the most basic computation elements in RTRACS. Experimental results demonstrated that the basic computation element worked as designed. In addition, its behaviors were analyzed using a mathematical model describing the molecular reactions of the RTRACS computation elements. A comparison between experiments and simulations confirmed the validity of the mathematical modeling method. This study will accelerate construction of various kinds of computation elements and computational circuits of RTRACS, and thus advance the research on autonomous DNA computers.

  14. System identification of closed-loop cardiovascular control mechanisms: diabetic autonomic neuropathy

    NASA Technical Reports Server (NTRS)

    Mukkamala, R.; Mathias, J. M.; Mullen, T. J.; Cohen, R. J.; Freeman, R.

    1999-01-01

    We applied cardiovascular system identification (CSI) to characterize closed-loop cardiovascular regulation in patients with diabetic autonomic neuropathy (DAN). The CSI method quantitatively analyzes beat-to-beat fluctuations in noninvasively measured heart rate, arterial blood pressure (ABP), and instantaneous lung volume (ILV) to characterize four physiological coupling mechanisms, two of which are autonomically mediated (the heart rate baroreflex and the coupling of respiration, measured in terms of ILV, to heart rate) and two of which are mechanically mediated (the coupling of ventricular contraction to the generation of the ABP wavelet and the coupling of respiration to ABP). We studied 37 control and 60 diabetic subjects who were classified as having minimal, moderate, or severe DAN on the basis of standard autonomic tests. The autonomically mediated couplings progressively decreased with increasing severity of DAN, whereas the mechanically mediated couplings were essentially unchanged. CSI identified differences between the minimal DAN and control groups, which were indistinguishable based on the standard autonomic tests. CSI may provide a powerful tool for assessing DAN.

  15. Reducing Size, Weight, and Power (SWaP) of Perception Systems in Small Autonomous Aerial Systems

    NASA Technical Reports Server (NTRS)

    Jones, Kennie H.; Gross, Jason

    2014-01-01

    The objectives are to examine recent trends in the reduction of size, weight, and power (SWaP) requirements of sensor systems for environmental perception and to explore new technology that may overcome limitations in current systems. Improving perception systems to facilitate situation awareness is critical in the move to introduce increasing autonomy in aerial systems. Whether the autonomy is in the current state-of-the-art of increasing automation or is enabling cognitive decisions that facilitate adaptive behavior, collection of environmental information and fusion of that information into knowledge that can direct actuation is imperative to decisions resulting in appropriate behavior. Artificial sensory systems such as cameras, radar, LIDAR, and acoustic sensors have been in use on aircraft for many years but, due to the large size and weight of the airplane and electrical power made available through powerful engines, the SWaP requirements of these sensors was inconsequential. With the proliferation of Remote Piloted Vehicles (RPV), the trend is in significant reduction in SWaP of the vehicles. This requires at least an equivalent reduction in SWaP for the sensory systems. A survey of some currently available sensor systems and changing technology will reveal the trend toward reduction of SWaP of these systems and will predict future reductions. A new technology will be introduced that provides an example of a desirable new trend. A new device replaces multiple conventional sensory devices facilitating synchronization, localization, altimetry, collision avoidance, terrain mapping, and data communication in a single integrated, small form-factor, extremely lightweight, and low power device that it is practical for integration into small autonomous vehicles and can facilitate cooperative behavior. The technology is based on Ultra WideBand (UWB) radio using short pulses of energy rather than continuous sine waves. The characteristics of UWB yield several

  16. An odd-number limitation of extended time-delayed feedback control in autonomous systems.

    PubMed

    Amann, Andreas; Hooton, Edward W

    2013-09-28

    We propose a necessary condition for the successful stabilization of a periodic orbit, using the extended version of time-delayed feedback control. This condition depends on the number of real Floquet multipliers larger than unity and is therefore related to the well-known odd-number limitation in non-autonomous systems. We show that the period of the orbit that is induced by mismatching the delay time of the control scheme and the period of the uncontrolled orbit plays an important role in the formulation of the odd-number limitation in the autonomous case.

  17. Coordination between control and knowledge based systems for autonomous vehicle guidance

    SciTech Connect

    Harmon, S.Y.

    1983-01-01

    A technique for coordination between control and knowledge based components of an autonomous mobile robot guidance system is discussed. This technique models the interaction process as multiple message passing tasks. A protocol with which to structure the messages has been developed. This protocol builds upon an available transport layer. The synchronization between tasks for real time control and slower knowledge based tasks is achieved by having the knowledge based tasks always work in anticipation of events to come. The implementation of this technique in the form of an autonomous mobile ground robot is used for illustration. Various elements of this robot's hardware and software architecture are discussed.

  18. Application of autonomous robotized systems for the collection of nearshore topographic changing and hydrodynamic measurements

    NASA Astrophysics Data System (ADS)

    Belyakov, Vladimir; Makarov, Vladimir; Zezyulin, Denis; Kurkin, Andrey; Pelinovsky, Efim

    2015-04-01

    Hazardous phenomena in the coastal zone lead to the topographic changing which are difficulty inspected by traditional methods. It is why those autonomous robots are used for collection of nearshore topographic and hydrodynamic measurements. The robot RTS-Hanna is well-known (Wubbold, F., Hentschel, M., Vousdoukas, M., and Wagner, B. Application of an autonomous robot for the collection of nearshore topographic and hydrodynamic measurements. Coastal Engineering Proceedings, 2012, vol. 33, Paper 53). We describe here several constructions of mobile systems developed in Laboratory "Transported Machines and Transported Complexes", Nizhny Novgorod State Technical University. They can be used in the field surveys and monitoring of wave regimes nearshore.

  19. Small Autonomous Air/Sea System Concepts for Coast Guard Missions

    NASA Technical Reports Server (NTRS)

    Young, Larry A.

    2005-01-01

    A number of small autonomous air/sea system concepts are outlined in this paper that support and enhance U.S. Coast Guard missions. These concepts draw significantly upon technology investments made by NASA in the area of uninhabited aerial vehicles and robotic/intelligent systems. Such concepts should be considered notional elements of a greater as-yet-not-defined robotic system-of-systems designed to enable unparalleled maritime safety and security.

  20. Identical synchronization of a non-autonomous unified chaotic system with continuous periodic switch.

    PubMed

    Shooshtari, Behnaz Koocheck; Forouzanfar, AbdolMohammad; Molaei, MohammadReza

    2016-01-01

    In this article a non-autonomous unified chaotic system with continuous periodic switch between the Chen and Lorenz systems is introduced. Dynamical behaviors of this system are investigated. We consider the identical (complete) synchronization of the bi-directionally coupled between two identical systems of this type and then analyze its stability by estimating the entire Lyapunov characteristic exponent spectrum. Numerical and graphical works are done with Mathematica.

  1. Autonomic nervous system responses can reveal visual fatigue induced by 3D displays.

    PubMed

    Kim, Chi Jung; Park, Sangin; Won, Myeung Ju; Whang, Mincheol; Lee, Eui Chul

    2013-09-26

    Previous research has indicated that viewing 3D displays may induce greater visual fatigue than viewing 2D displays. Whether viewing 3D displays can evoke measureable emotional responses, however, is uncertain. In the present study, we examined autonomic nervous system responses in subjects viewing 2D or 3D displays. Autonomic responses were quantified in each subject by heart rate, galvanic skin response, and skin temperature. Viewers of both 2D and 3D displays showed strong positive correlations with heart rate, which indicated little differences between groups. In contrast, galvanic skin response and skin temperature showed weak positive correlations with average difference between viewing 2D and 3D. We suggest that galvanic skin response and skin temperature can be used to measure and compare autonomic nervous responses in subjects viewing 2D and 3D displays.

  2. Analysis of the minimum swerving distance for the development of a motorcycle autonomous braking system.

    PubMed

    Giovannini, Federico; Savino, Giovanni; Pierini, Marco; Baldanzini, Niccolò

    2013-10-01

    In the recent years the autonomous emergency brake (AEB) was introduced in the automotive field to mitigate the injury severity in case of unavoidable collisions. A crucial element for the activation of the AEB is to establish when the obstacle is no longer avoidable by lateral evasive maneuvers (swerving). In the present paper a model to compute the minimum swerving distance needed by a powered two-wheeler (PTW) to avoid the collision against a fixed obstacle, named last-second swerving model (Lsw), is proposed. The effectiveness of the model was investigated by an experimental campaign involving 12 volunteers riding a scooter equipped with a prototype autonomous emergency braking, named motorcycle autonomous emergency braking system (MAEB). The tests showed the performance of the model in evasive trajectory computation for different riding styles and fixed obstacles.

  3. Decentralized control of large flexible structures by joint decoupling

    NASA Technical Reports Server (NTRS)

    Su, Tzu-Jeng; Juang, Jer-Nan

    1994-01-01

    This paper presents a novel method to design decentralized controllers for large complex flexible structures by using the idea of joint decoupling. Decoupling of joint degrees of freedom from the interior degrees of freedom is achieved by setting the joint actuator commands to cancel the internal forces exerting on the joint degrees of freedom. By doing so, the interactions between substructures are eliminated. The global structure control design problem is then decomposed into several substructure control design problems. Control commands for interior actuators are set to be localized state feedback using decentralized observers for state estimation. The proposed decentralized controllers can operate successfully at the individual substructure level as well as at the global structure level. Not only control design but also control implementation is decentralized. A two-component mass-spring-damper system is used as an example to demonstrate the proposed method.

  4. Development and Evaluation of an Airborne Separation Assurance System for Autonomous Aircraft Operations

    NASA Technical Reports Server (NTRS)

    Barhydt, Richard; Palmer, Michael T.; Eischeid, Todd M.

    2004-01-01

    NASA Langley Research Center is developing an Autonomous Operations Planner (AOP) that functions as an Airborne Separation Assurance System for autonomous flight operations. This development effort supports NASA s Distributed Air-Ground Traffic Management (DAG-TM) operational concept, designed to significantly increase capacity of the national airspace system, while maintaining safety. Autonomous aircraft pilots use the AOP to maintain traffic separation from other autonomous aircraft and managed aircraft flying under today's Instrument Flight Rules, while maintaining traffic flow management constraints assigned by Air Traffic Service Providers. AOP is designed to facilitate eventual implementation through careful modeling of its operational environment, interfaces with other aircraft systems and data links, and conformance with established flight deck conventions and human factors guidelines. AOP uses currently available or anticipated data exchanged over modeled Arinc 429 data buses and an Automatic Dependent Surveillance Broadcast 1090 MHz link. It provides pilots with conflict detection, prevention, and resolution functions and works with the Flight Management System to maintain assigned traffic flow management constraints. The AOP design has been enhanced over the course of several experiments conducted at NASA Langley and is being prepared for an upcoming Joint Air/Ground Simulation with NASA Ames Research Center.

  5. Investigating Autonomic Control of the Cardiovascular System: A Battery of Simple Tests

    ERIC Educational Resources Information Center

    Johnson, Christopher D.; Roe, Sean; Tansey, Etain A.

    2013-01-01

    Sympathetic and parasympathetic divisions of the autonomic nervous system constantly control the heart (sympathetic and parasympathetic divisions) and blood vessels (predominantly the sympathetic division) to maintain appropriate blood pressure and organ blood flow over sometimes widely varying conditions. This can be adversely affected by…

  6. Case Studies in a Physiology Course on the Autonomic Nervous System: Design, Implementation, and Evaluation

    ERIC Educational Resources Information Center

    Zimmermann, Martina

    2010-01-01

    The introduction of case studies on the autonomic nervous system in a fourth-semester physiology course unit for Pharmacy students is described in this article. This article considers how these case studies were developed and presents their content. Moreover, it reflects on their implementation and, finally, the reception of such a transformation…

  7. Child Abuse and Autonomic Nervous System Hyporesponsivity among Psychiatrically Impaired Children

    ERIC Educational Resources Information Center

    Ford, Julian D.; Fraleigh, Lisa A.; Albert, David B.; Connor, Daniel F.

    2010-01-01

    Objective: Sexually or physically abused children are at risk for neurobiological dysregulation as well as for internalizing and disruptive behavior disorders. Stress-related autonomic nervous system (ANS) down-regulation has been proposed as a sequela of abuse and was investigated in the present study. Methods: Child Protective Services…

  8. The science of autonomy: integrating autonomous systems with the ISR enterprise

    NASA Astrophysics Data System (ADS)

    Creech, Gregory S.

    2013-05-01

    Consider a future where joint, unmanned operations are the norm. A fleet of autonomous airborne systems conducts overwatch and surveillance for their land and sea brethren, accurately reporting adversary position and aptly guiding the group of autonomous land and sea warriors into position to conduct a successful takedown. Sounds a bit like science fiction, but reality is just around the corner. The DoD ISR Enterprise has evolved significantly over the past decade and has learned many a harsh lesson along the way. Autonomous system operations supporting the warfighter have also evolved, arguably to a point where integration into the ISR Enterprise is a must, in order to reap the benefits that these highly capable systems possess. Achieving meaningful integration, however, is not without its challenges. The ISR Enterprise, for example, is still plagued with "stovepipe" efforts - sufficiently filling a niche for an immediate customer need, but doing little to service the needs of the greater enterprise. This paper will examine the science of autonomy, the challenges and potential benefits that it brings to the ISR Enterprise and recommendations that will facilitate smooth integration of emerging autonomous systems with the mature suite of traditional manned and unmanned ISR platforms.

  9. SYSTEM DESIGN FOR A CONTINUOUS PROGRESS SCHOOL--COMPUTER SIMULATION OF AUTONOMOUS SCHEDULING PROCEDURES.

    ERIC Educational Resources Information Center

    COGSWELL, JOHN F.; MARSH, DONALD G.

    A COMPUTER SIMULATION OF A CONTINUOUS PROGRESS SCHOOL THAT PERMITS STUDENTS TO SCHEDULE THEMSELVES FOR COURSE WORK ON AN AUTONOMOUS BASIS WAS CONSTRUCTED AND TESTED. THE SYSTEM WAS SET UP TO FREE THE STUDENT FROM THE DISADVANTAGES OF TRADITIONAL PROGRESSION BY ALLOWING HIM TO WORK IN OTHER COURSES WHILE WAITING FOR TEACHING ASSISTANCE IN ANOTHER.…

  10. Space station automation study. Volume 1: Executive summary. Autonomous systems and assembly

    NASA Technical Reports Server (NTRS)

    1984-01-01

    The space station automation study (SSAS) was to develop informed technical guidance for NASA personnel in the use of autonomy and autonomous systems to implement space station functions. The initial step taken by NASA in organizing the SSAS was to form and convene a panel of recognized expert technologists in automation, space sciences and aerospace engineering to produce a space station automation plan.

  11. Autonomic nervous system abnormalities in spinocerebellar ataxia type 2: a cardiovascular neurophysiologic study.

    PubMed

    De Joanna, G; De Rosa, A; Salvatore, E; Castaldo, I; De Luca, N; Izzo, R; Manzo, V; Filla, A; De Michele, G

    2008-12-15

    Autonomic nervous system dysfunction is part of the spinocerebellar ataxia (SCA) clinical picture, but few data are available on this topic. The present study is aimed to report a detailed investigation of autonomic nervous system in patients with molecular diagnosis of SCA type 2, one of the most frequent forms and the commonest in Italy. Nine patients with a mild to moderate form of SCA2 underwent a questionnaire about dysautonomic symptoms and a complete cardiovascular neurophysiologic evaluation of both sympathetic and parasympathetic system, comprising head-up tilt, standing, isometric hand grip, cold pressure, mental arithmetic, Valsalva manoeuvre, deep breathing, and hyperventilation tests. An echocardiographic study and Holter-ECG recording were also performed. All patients complained dysautonomic problems regarding urinary tract, cardiovascular system, or gastrointestinal dysfunction. The neurophysiologic study showed both sympathetic and parasympathetic involvement, with highly variable degree and pattern of dysautonomia. The present study results show that the autonomic dysfunction is common in SCA2 representing a significant component of the complex picture of the disease. We found a wide spectrum of cardiovascular autonomic abnormalities, without a typical pattern of dysfunction and without correlation with clinical variables.

  12. Costing for the Future: Exploring Cost Estimation With Unmanned Autonomous Systems

    DTIC Science & Technology

    2016-04-30

    Acquisition, Cranfield University Controlling Costs: The 6-3-5 Method—Case Studies at NAVSEA and NATO Bruce Nagy, President/CEO, Catalyst Technologies...Morgan Ames, Senior Advisor, Catalyst Technologies Costing for the Future: Exploring Cost Estimation With Unmanned Autonomous Systems Ricardo Valerdi

  13. Autonomic and Apoptotic, Aeronautical and Aerospace Systems, and Controlling Scientific Data Generated Therefrom

    NASA Technical Reports Server (NTRS)

    Sterritt, Roy (Inventor); Hinchey, Michael G. (Inventor)

    2015-01-01

    A self-managing system that uses autonomy and autonomicity is provided with the self-* property of autopoiesis (self-creation). In the event of an agent in the system self-destructing, autopoiesis auto-generates a replacement. A self-esteem reward scheme is also provided and can be used for autonomic agents, based on their performance and trust. Art agent with greater self-esteem may clone at a greater rate compared to the rate of an agent with lower self-esteem. A self-managing system is provided for a high volume of distributed autonomic/self-managing mobile agents, and autonomic adhesion is used to attract similar agents together or to repel dissimilar agents from an event horizon. An apoptotic system is also provided that accords an "expiry date" to data and digital objects, for example, that are available on the internet, which finds usefulness not only in general but also for controlling the loaning and use of space scientific data.

  14. Autonomic nervous system function in young children with functional abdominal pain or irritable bowel syndrome

    Technology Transfer Automated Retrieval System (TEKTRAN)

    Adults with irritable bowel syndrome (IBS) have been reported to have alterations in autonomic nervous system function as measured by vagal activity via heart rate variability. Whether the same is true for children is unknown. We compared young children 7 to 10 years of age with functional abdominal...

  15. Development of an innovative decentralized treatment system for the reclamation and reuse of strong wastewater from rural community: Effects of elevated CO2 concentrations.

    PubMed

    Chen, Xiaochen; Fukushi, Kensuke

    2016-09-15

    In a previous study, a soil-plant-based natural treatment system was successfully developed for post-treatment of anaerobically digested strong wastewater full of potential nutrients (nitrogen, phosphorus, and potassium). For upgraded performance, an innovative decentralized treatment system was further developed, in which an anaerobic digestion stage and a natural treatment system stage are placed within a greenhouse. This allows the CO2 generated by the processing of wastewater and biogas consumption to be sequestrated within the greenhouse for elevating its concentration level and potentially enhance nutrient removal and recovery from the applied wastewater. To investigate the feasibility of the system, a bench-scale experiment was conducted using CO2 chambers. Valuable Kentucky bluegrass was planted in two soil types (red ball earth and black soil) at three CO2 concentrations (340 ppm, 900 ppm, and 1400 ppm). The results confirmed the positive effects of elevated CO2 concentration on the biomass production and turf quality of Kentucky bluegrass as well as the resulting higher nutrient recovery efficiencies. More importantly, it was demonstrated that the elevated CO2 concentration significantly stimulated the soil nitrifying microorganisms and thus improved the nitrogen removal efficiency (a critical issue in ecological wastewater treatment). A CO2 concentration of 1400 ppm is therefore recommended for use in the system. The mechanism underlying this phenomenon was shown to be an indirect effect, in which the higher CO2 concentration first positively influenced growing plants, which then stimulated the soil nitrifier communities. The effects of soil type (a design parameter) and hydraulic and nutrient loading rates (an operational parameter) on system performance were also examined. The results favored black soil for system establishment. Based on the findings of this study, our proposed system is thought to have the potential to be scaled up and adopted by

  16. The MDS autonomous control architecture

    NASA Technical Reports Server (NTRS)

    Gat, E.

    2000-01-01

    We describe the autonomous control architecture for the JPL Mission Data System (MDS). MDS is a comprehensive new software infrastructure for supporting unmanned space exploration. The autonomous control architecture is one component of MDS designed to enable autonomous operations.

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

    PubMed

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

    2016-07-01

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

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

    PubMed Central

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

    2016-01-01

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

  19. Autonomous collision avoidance system by combined control of steering and braking using geometrically optimised vehicular trajectory

    NASA Astrophysics Data System (ADS)

    Hayashi, Ryuzo; Isogai, Juzo; Raksincharoensak, Pongsathorn; Nagai, Masao

    2012-01-01

    This study proposes an autonomous obstacle avoidance system not only by braking but also by steering, as one of the active safety technologies to prevent traffic accidents. The proposed system prevents the vehicle from colliding with a moving obstacle like a pedestrian jumping out from the roadside. In the proposed system, to avoid the predicted colliding position based on constant-velocity obstacle motion assumption, the avoidance trajectory is derived as connected two identical arcs. The system then controls the vehicle autonomously by the combined control of the braking and steering systems. In this paper, the proposed system is examined by real car experiments and its effectiveness is shown from the results of the experiments.

  20. Tele-autonomous systems: New methods for projecting and coordinating intelligent action at a distance

    NASA Technical Reports Server (NTRS)

    Conway, Lynn; Volz, Richard; Walker, Michael W.

    1989-01-01

    There is a growing need for humans to perform complex remote operations and to extend the intelligence and experience of experts to distant applications. It is asserted that a blending of human intelligence, modern information technology, remote control, and intelligent autonomous systems is required, and have coined the term tele-autonomous technology, or tele-automation, for methods producing intelligent action at a distance. Tele-automation goes beyond autonomous control by blending in human intelligence. It goes beyond tele-operation by incorporating as much autonomy as possible and/or reasonable. A new approach is discussed for solving one of the fundamental problems facing tele-autonomous systems: The need to overcome time delays due to telemetry and signal propagation. New concepts are introduced called time and position clutches, that allow the time and position frames between the local user control and the remote device being controlled, to be desynchronized respectively. The design and implementation of these mechanisms are described in detail. It is demonstrated that these mechanisms lead to substantial telemanipulation performance improvements, including the result of improvements even in the absence of time delays. The new controls also yield a simple protocol for control handoffs of manipulation tasks between local operators and remote systems.

  1. Abnormal autonomic control of the cardiovascular system in syndrome X.

    PubMed

    Rosano, G M; Ponikowski, P; Adamopoulos, S; Collins, P; Poole-Wilson, P A; Coats, A J; Kaski, J C

    1994-06-15

    Anomalies of autonomic control of the coronary circulation may play a role in the development of syndrome X (angina pectoris, ischemic-appearing results on exercise test, and normal coronary arteriograms). Twenty-six patients with syndrome X and 20 healthy sex- and age-matched control subjects were studied by means of analysis of heart rate variability during 24-hour Holter monitoring. Spectral and nonspectral parameters of heart rate variability were investigated. Mean heart rate was similar in patients with syndrome X and in control subjects. Patients with syndrome X had significantly lower standard deviation of all normal RR intervals, a lower percentage of adjacent normal RR intervals > 50 ms in difference (126.4 +/- 22 vs 149 +/- 43 ms, p < 0.05; 6.3 +/- 4 vs 11.2 +/- 7%, p < 0.05; respectively), and a trend toward lower values of time-domain parameters. Lower values of total power and low frequency were also observed in patients with syndrome X (1273 +/- 693 vs 1790 +/- 989 ms2, p < 0.05; 406 +/- 176 vs 729 +/- 455 ms2, p < 0.01, respectively). An inverse correlation between heart rate and measures of heart rate variability was found in syndrome X but not in control subjects. High- and low-frequency power showed a similar circadian pattern in syndrome X patients and control subjects. Patients and control subjects were then allocated into 2 groups according to the median RR duration: syndrome X1 and control 1 with high mean heart rate, and syndrome X2 and control 2 with low mean heart rate.(ABSTRACT TRUNCATED AT 250 WORDS)

  2. Intelligent operating systems for autonomous robots: Real-time capabilities on a hypercube super-computer

    SciTech Connect

    Einstein, J.R.; Barhen, J.; Jefferson, D.

    1986-01-01

    Autonomous robots which must perform time-critical tasks in hostile environments require computers which can perform many asynchronous tasks at extremely high speeds. Certain hypercube multiprocessors have many of the required attributes, but their operating systems must be provided with special functions to improve the capability of the system to respond rapidly to unpredictable events. A ''virtual-time'' shell, under design for addition to the Vertex operating system of the NCUBE hypercube computer, and having such capabilities, is described.

  3. The Challenges of Sensing and Repairing Software Defects in Autonomous Systems

    DTIC Science & Technology

    2014-05-09

    systems . For example, the Sony Playstation uses digital signatures to guard third- party games run on its hardware [18]. A second example is... Microsoft Zune player), failing over to an identical copy results in a system that immediately encounters the same bug. Proposed Research Activities: 1...AFRL-RV-PS- AFRL-RV-PS- TR-2014-0035 TR-2014-0035 THE CHALLENGES OF SENSING AND REPAIRING SOFTWARE DEFECTS IN AUTONOMOUS SYSTEMS Stephanie Forrest

  4. Modelling and properties of a nonlinear autonomous switching system in fed-batch culture of glycerol

    NASA Astrophysics Data System (ADS)

    Wang, Juan; Sun, Qingying; Feng, Enmin

    2012-11-01

    A nonlinear autonomous switching system is proposed to describe the coupled fed-batch fermentation with the pH as the feedback parameter. We prove the non-Zeno behaviors of the switching system and some basic properties of its solution, including the existence, uniqueness, boundedness and regularity. Numerical simulation is also carried out, which reveals that the proposed system can describe the factual fermentation process properly.

  5. RIACS Workshop on the Verification and Validation of Autonomous and Adaptive Systems

    NASA Technical Reports Server (NTRS)

    Pecheur, Charles; Visser, Willem; Simmons, Reid

    2001-01-01

    The long-term future of space exploration at NASA is dependent on the full exploitation of autonomous and adaptive systems: careful monitoring of missions from earth, as is the norm now, will be infeasible due to the sheer number of proposed missions and the communication lag for deep-space missions. Mission managers are however worried about the reliability of these more intelligent systems. The main focus of the workshop was to address these worries and hence we invited NASA engineers working on autonomous and adaptive systems and researchers interested in the verification and validation (V&V) of software systems. The dual purpose of the meeting was to: (1) make NASA engineers aware of the V&V techniques they could be using; and (2) make the V&V community aware of the complexity of the systems NASA is developing.

  6. Transit times and mean ages for nonautonomous and autonomous compartmental systems

    SciTech Connect

    Rasmussen, Martin; Hastings, Alan; Smith, Matthew J.; Agusto, Folashade B.; Chen-Charpentier, Benito M.; Hoffman, Forrest M.; Jiang, Jiang; Todd-Brown, Katherine E. O.; Wang, Ying; Wang, Ying -Ping; Luo, Yiqi

    2016-04-01

    In this study, we develop a theory for transit times and mean ages for nonautonomous compartmental systems. Using the McKendrick–von Förster equation, we show that the mean ages of mass in a compartmental system satisfy a linear nonautonomous ordinary differential equation that is exponentially stable. We then define a nonautonomous version of transit time as the mean age of mass leaving the compartmental system at a particular time and show that our nonautonomous theory generalises the autonomous case. We apply these results to study a nine-dimensional nonautonomous compartmental system modeling the terrestrial carbon cycle, which is a modification of the Carnegie–Ames–Stanford approach model, and we demonstrate that the nonautonomous versions of transit time and mean age differ significantly from the autonomous quantities when calculated for that model.

  7. Transit times and mean ages for nonautonomous and autonomous compartmental systems

    DOE PAGES

    Rasmussen, Martin; Hastings, Alan; Smith, Matthew J.; ...

    2016-04-01

    In this study, we develop a theory for transit times and mean ages for nonautonomous compartmental systems. Using the McKendrick–von Förster equation, we show that the mean ages of mass in a compartmental system satisfy a linear nonautonomous ordinary differential equation that is exponentially stable. We then define a nonautonomous version of transit time as the mean age of mass leaving the compartmental system at a particular time and show that our nonautonomous theory generalises the autonomous case. We apply these results to study a nine-dimensional nonautonomous compartmental system modeling the terrestrial carbon cycle, which is a modification of themore » Carnegie–Ames–Stanford approach model, and we demonstrate that the nonautonomous versions of transit time and mean age differ significantly from the autonomous quantities when calculated for that model.« less

  8. Chemokines and Heart Disease: A Network Connecting Cardiovascular Biology to Immune and Autonomic Nervous Systems

    PubMed Central

    Dusi, Veronica; Ghidoni, Alice; Ravera, Alice; De Ferrari, Gaetano M.; Calvillo, Laura

    2016-01-01

    Among the chemokines discovered to date, nineteen are presently considered to be relevant in heart disease and are involved in all stages of cardiovascular response to injury. Chemokines are interesting as biomarkers to predict risk of cardiovascular events in apparently healthy people and as possible therapeutic targets. Moreover, they could have a role as mediators of crosstalk between immune and cardiovascular system, since they seem to act as a “working-network” in deep linkage with the autonomic nervous system. In this paper we will describe the single chemokines more involved in heart diseases; then we will present a comprehensive perspective of them as a complex network connecting the cardiovascular system to both the immune and the autonomic nervous systems. Finally, some recent evidences indicating chemokines as a possible new tool to predict cardiovascular risk will be described. PMID:27242392

  9. Advances in Robotic, Human, and Autonomous Systems for Missions of Space Exploration

    NASA Technical Reports Server (NTRS)

    Gross, Anthony R.; Briggs, Geoffrey A.; Glass, Brian J.; Pedersen, Liam; Kortenkamp, David M.; Wettergreen, David S.; Nourbakhsh, I.; Clancy, Daniel J.; Zornetzer, Steven (Technical Monitor)

    2002-01-01

    Space exploration missions are evolving toward more complex architectures involving more capable robotic systems, new levels of human and robotic interaction, and increasingly autonomous systems. How this evolving mix of advanced capabilities will be utilized in the design of new missions is a subject of much current interest. Cost and risk constraints also play a key role in the development of new missions, resulting in a complex interplay of a broad range of factors in the mission development and planning of new missions. This paper will discuss how human, robotic, and autonomous systems could be used in advanced space exploration missions. In particular, a recently completed survey of the state of the art and the potential future of robotic systems, as well as new experiments utilizing human and robotic approaches will be described. Finally, there will be a discussion of how best to utilize these various approaches for meeting space exploration goals.

  10. Role of Autonomic Nervous System and Orexinergic System on Adipose Tissue

    PubMed Central

    Messina, Giovanni; Valenzano, Anna; Moscatelli, Fiorenzo; Salerno, Monica; Lonigro, Antonio; Esposito, Teresa; Monda, Vincenzo; Corso, Gaetano; Messina, Antonietta; Viggiano, Andrea; Triggiani, Antonio I.; Chieffi, Sergio; Guglielmi, Giuseppe; Monda, Marcellino; Cibelli, Giuseppe

    2017-01-01

    Adipose tissue, defined as white adipose tissue (WAT) and brown adipose tissue (BAT), is a biological caloric reservoir; in response to over-nutrition it expands and, in response to energy deficit, it releases lipids. The WAT primarily stores energy as triglycerides, whereas BAT dissipates chemical energy as heat. In mammals, the BAT is a key site for heat production and an attractive target to promote weight loss. The autonomic nervous system (ANS) exerts a direct control at the cellular and molecular levels in adiposity. The sympathetic nervous system (SNS) provides a complex homeostatic control to specifically coordinate function and crosstalk of both fat pads, as indicated by the increase of the sympathetic outflow to BAT, in response to cold and high-fat diet, but also by the increase or decrease of the sympathetic outflow to selected WAT depots, in response to different lipolytic requirements of these two conditions. More recently, a role has been attributed to the parasympathetic nervous system (PNS) in modulating both adipose tissue insulin-mediated glucose uptake and fatty free acid (FFA) metabolism in an anabolic way and its endocrine function. The regulation of adipose tissue is unlikely to be limited to the autonomic control, since a number of signaling cytokines and neuropeptides play an important role, as well. In this review, we report some experimental evidences about the role played by both the ANS and orexins into different fat pads, related to food intake and energy expenditure, with a special emphasis on body weight status and fat mass (FM) content. PMID:28344558

  11. Novel Integrated System Architecture for an Autonomous Jumping Micro-Robot

    DTIC Science & Technology

    2010-01-01

    micro and nano scale require patterning small feature sizes. This presents a challenge to conventional photolithography techniques used in MEMS...ABSTRACT Title of Document: Novel Integrated System Architecture for an Autonomous Jumping Micro -Robot Wayne A. Churaman...evolve from the macro to micro -scale, innovation of such systems is driven by the notion that a robot must be able to sense, think, and act [1

  12. Autonomic, locomotor and cardiac abnormalities in a mouse model of muscular dystrophy: targeting the renin-angiotensin system.

    PubMed

    Sabharwal, Rasna; Chapleau, Mark W

    2014-04-01

    New Findings What is the topic of this review? This symposium report summarizes autonomic, cardiac and skeletal muscle abnormalities in sarcoglycan-δ-deficient mice (Sgcd-/-), a mouse model of limb girdle muscular dystrophy, with emphasis on the roles of autonomic dysregulation and activation of the renin-angiotensin system at a young age. What advances does it highlight? The contributions of the autonomic nervous system and the renin-angiotensin system to the pathogenesis of muscular dystrophy are highlighted. Results demonstrate that autonomic dysregulation precedes and predicts later development of cardiac dysfunction in Sgcd-/- mice and that treatment of young Sgcd-/- mice with the angiotensin type 1 receptor antagonist losartan or with angiotensin-(1-7) abrogates the autonomic dysregulation, attenuates skeletal muscle pathology and increases spontaneous locomotor activity. Muscular dystrophies are a heterogeneous group of genetic muscle diseases characterized by muscle weakness and atrophy. Mutations in sarcoglycans and other subunits of the dystrophin-glycoprotein complex cause muscular dystrophy and dilated cardiomyopathy in animals and humans. Aberrant autonomic signalling is recognized in a variety of neuromuscular disorders. We hypothesized that activation of the renin-angiotensin system contributes to skeletal muscle and autonomic dysfunction in mice deficient in the sarcoglycan-δ (Sgcd) gene at a young age and that this early autonomic dysfunction contributes to the later development of left ventricular (LV) dysfunction and increased mortality. We demonstrated that young Sgcd-/- mice exhibit histopathological features of skeletal muscle dystrophy, decreased locomotor activity and severe autonomic dysregulation, but normal LV function. Autonomic regulation continued to deteriorate in Sgcd-/- mice with age and was accompanied by LV dysfunction and dilated cardiomyopathy at older ages. Autonomic dysregulation at a young age predicted later development of

  13. To decentralize or not to decentralize, is that the question? Nicaraguan health policy under structural adjustment in the 1990s.

    PubMed

    Birn, A E; Zimmerman, S; Garfield, R

    2000-01-01

    Since 1990, health services decentralization in Nicaragua has been accompanied by structural adjustment, resulting in reduced equity and accountability. Sandinista efforts in the 1980s to extend access to primary care and reduce class and regional disparities in the delivery of health services were accompanied by modest attempts to increase local-level accountability and responsiveness. The escalation of war in the late 1980s transformed this effort into greater de facto decentralization. Over the past decade, Nicaragua has used decentralization policy to restructure the health system through health spending cuts and the favoring of curative over preventive services; privatization and the promotion of user fees; and confusion of lines of accountability. The authors analyze the 1990s' health policies in Nicaragua, paying particular attention to the blending of decentralization policy with the fiscal and administrative reforms advanced by the International Monetary Fund, World Bank, and other international agencies. They conclude that analyzing decentralization as a sector-specific reform that can be ameliorated through technocratic modifications is insufficient. A full understanding of the problems and possibilities of decentralization requires an analysis of the political and economic context that conditions these policies.

  14. Autonomous navigation system. [gyroscopic pendulum for air navigation

    NASA Technical Reports Server (NTRS)

    Merhav, S. J. (Inventor)

    1981-01-01

    An inertial navigation system utilizing a servo-controlled two degree of freedom pendulum to obtain specific force components in the locally level coordinate system is described. The pendulum includes a leveling gyroscope and an azimuth gyroscope supported on a two gimbal system. The specific force components in the locally level coordinate system are converted to components in the geographical coordinate system by means of a single Euler transformation. The standard navigation equations are solved to determine longitudinal and lateral velocities. Finally, vehicle position is determined by a further integration.

  15. Sensor Data Qualification for Autonomous Operation of Space Systems

    NASA Technical Reports Server (NTRS)

    Maul, William A.; Melcher, Kevin J.; Chicatelli, Amy K.; Sowers, T. Shane

    2006-01-01

    NASA's new Exploration initiative for both robotic and manned missions will require higher levels of reliability, autonomy and reconfiguration capability to make the missions safe, successful and affordable. Future systems will require diagnostic reasoning to assess the health of the system in order to maintain the system s functionality. The diagnostic reasoning and assessment will involve data qualification, fault detection, fault isolation and remediation control. A team of researchers at the NASA Glenn Research Center is currently working on a Sensor Data Qualification (SDQ) system that will support these critical evaluation processes, for both automated and human-in-the-loop applications. Data qualification is required as a first step so that critical safety and operational decisions are based on good data. The SDQ system would monitor a network of related sensors to determine the health of individual sensors within that network. Various diagnostic systems such as the Caution and Warning System would then use the sensor health information with confidence. The proposed SDQ technology will be demonstrated on a variety of subsystems that are relevant to NASA s Exploration systems, which currently include an electrical power system and a cryogenic fluid management system. The focus of this paper is the development and demonstration of a SDQ application for a prototype power distribution unit that is representative of a Crew Exploration Vehicle electrical power system; this provides a unique and relevant environment in which to demonstrate the feasibility of the SDQ technology.

  16. System and method of self-properties for an autonomous and automatic computer environment

    NASA Technical Reports Server (NTRS)

    Hinchey, Michael G. (Inventor); Sterritt, Roy (Inventor)

    2010-01-01

    Systems, methods and apparatus are provided through which in some embodiments self health/urgency data and environment health/urgency data may be transmitted externally from an autonomic element. Other embodiments may include transmitting the self health/urgency data and environment health/urgency data together on a regular basis similar to the lub-dub of a heartbeat. Yet other embodiments may include a method for managing a system based on the functioning state and operating status of the system, wherein the method may include processing received signals from the system indicative of the functioning state and the operating status to obtain an analysis of the condition of the system, generating one or more stay alive signals based on the functioning status and the operating state of the system, transmitting the stay-alive signal, transmitting self health/urgency data, and transmitting environment health/urgency data. Still other embodiments may include an autonomic element that includes a self monitor, a self adjuster, an environment monitor, and an autonomic manager.

  17. Modulation of Cardiac Autonomic Dysfunction in Ischemic Stroke following Ayurveda (Indian System of Medicine) Treatment

    PubMed Central

    Jaideep, Sriranjini Sitaram; Nagaraja, Dindagur; Pal, Pramod Kumar; Sudhakara, D.; Talakad, Sathyaprabha N.

    2014-01-01

    Objectives. Cardiac autonomic dysfunction in stroke has implications on morbidity and mortality. Ayurveda (Indian system of medicine) describes stroke as pakshaghata. We intended to study the effect of Ayurveda therapies on the cardiac autonomic dysfunction. Methods. Fifty patients of ischemic stroke (middle cerebral artery territory) (mean age 39.26 ± 9.88 years; male 43, female 7) were recruited within one month of ictus. All patients received standard allopathic medications as advised by neurologist. In addition, patients were randomized to receive physiotherapy (Group I) or Ayurveda treatment (Group II) for 14 days. Continuous electrocardiogram and finger arterial pressure were recorded for 15 min before and after treatments and analyzed offline to obtain heart rate and blood pressure variability and baroreflex sensitivity (BRS). Results were analysed by RMANOVA. Results. Patients in Group II showed statistically significant improvement in cardiac autonomic parameters. The standard deviation of normal to normal intervals,and total and low frequency powers were significantly enhanced (F = 8.16, P = 0.007, F = 9.73, P = 0.004, F = 13.51, and P = 0.001, resp.). The BRS too increased following the treatment period (F = 10.129, P = 0.004). Conclusions. The current study is the first to report a positive modulation of cardiac autonomic activity after adjuvant Ayurveda treatment in ischemic stroke. Further long term studies are warranted. PMID:24971149

  18. Safety Verification of a Fault Tolerant Reconfigurable Autonomous Goal-Based Robotic Control System

    NASA Technical Reports Server (NTRS)

    Braman, Julia M. B.; Murray, Richard M; Wagner, David A.

    2007-01-01

    Fault tolerance and safety verification of control systems are essential for the success of autonomous robotic systems. A control architecture called Mission Data System (MDS), developed at the Jet Propulsion Laboratory, takes a goal-based control approach. In this paper, a method for converting goal network control programs into linear hybrid systems is developed. The linear hybrid system can then be verified for safety in the presence of failures using existing symbolic model checkers. An example task is simulated in MDS and successfully verified using HyTech, a symbolic model checking software for linear hybrid systems.

  19. Methods for obtaining sufficient conditions for the stability of autonomous conservative systems

    NASA Astrophysics Data System (ADS)

    Novikov, M. A.

    2016-11-01

    A computational method for obtaining sufficient conditions for the stability of the stationary solution of autonomous conservative systems is proposed in the paper. This method is adapted to linear autonomous gyroscopic systems with three degrees of freedom. It is based on the positive definiteness of a parametric quadratic form composed of the gyroscopic force matrices and the potential function. The control parameters for the stability of the zero solution of the gyroscopic system are the entries of the gyroscopic force matrix. The algorithm of the computational method includes estimating one gyroscopic force parameter in the equation constructed from a necessary stability condition. A special example is used to demonstrate the application of this algorithm. Comparison is performed with some well-known methods for obtaining sufficient conditions on the basis of an incomplete set of first integrals of motion. It is shown that the positive definiteness of the modified potential energy may result in stable as well as unstable motions.

  20. An Autonomous Autopilot Control System Design for Small-Scale UAVs

    NASA Technical Reports Server (NTRS)

    Ippolito, Corey; Pai, Ganeshmadhav J.; Denney, Ewen W.

    2012-01-01

    This paper describes the design and implementation of a fully autonomous and programmable autopilot system for small scale autonomous unmanned aerial vehicle (UAV) aircraft. This system was implemented in Reflection and has flown on the Exploration Aerial Vehicle (EAV) platform at NASA Ames Research Center, currently only as a safety backup for an experimental autopilot. The EAV and ground station are built on a component-based architecture called the Reflection Architecture. The Reflection Architecture is a prototype for a real-time embedded plug-and-play avionics system architecture which provides a transport layer for real-time communications between hardware and software components, allowing each component to focus solely on its implementation. The autopilot module described here, although developed in Reflection, contains no design elements dependent on this architecture.

  1. Autonomous space systems control incorporating automated maneuvers strategies in the presence of parameters uncertainties.

    PubMed

    Mazinan, A H; Shakhesi, S

    2016-05-01

    The research attempts to deal with the autonomous space systems incorporating new automated maneuvers strategies in the presence of parameters uncertainties. The main subject behind the investigation is to realize the high-resolution small amplitude orbital maneuvers via the first control strategy. And subsequently to realize the large amplitude orbital maneuvers via the second control strategy, as well. There is a trajectory optimization to provide the three-axis referenced commends for the aforementioned overactuated autonomous space system to be able to transfer from the initial orbit to its final ones, in finite burn, as long as the uncertainties of key parameters of the system such as the thrust vector, the center of the gravity, the moments of the inertia and so on are taken into real consideration. The strategies performances are finally considered through a series of experiments and a number of benchmarks to be tangibly verified.

  2. An Artificial Neural System for Autonomous Undersea Vehicles

    DTIC Science & Technology

    1988-07-01

    behavior across a number of species, while the third column lists new features of the nervous systems that likely support the advances in capability. Note...Scale. Phylum Example Advance Ability Protozoa Paramecium No Nervous System Swim Food Discrimination Coelenterata Hydra Nerve Nets Spontaneity Anemone...Structure and Function in the Nervous System of Invertebrates. (2 volumes), W.H. Freeman and Company, San Francisco, 1965. 2. Camhi, J.M. Neuroethology

  3. Development of an autonomous video rendezous and docking system

    NASA Technical Reports Server (NTRS)

    Tietz, J. C.; Kelly, J. H.

    1982-01-01

    Video control systems using three flashing lights and two other types of docking aids were evaluated through computer simulation and other approaches. The three light system performed much better than the others. Its accuracy is affected little by tumbling of the target spacecraft, and in the simulations it was able to cope with attitude rates up to 20,000 degrees per hour about the docking axis. Its performance with rotation about other axes is determined primarily by the state estimation and goal setting portions of the control system, not by measurement accuracy. A suitable control system, and a computer program that can serve as the basis for the physical simulation are discussed.

  4. Decentralized and Modular Electrical Architecture

    NASA Astrophysics Data System (ADS)

    Elisabelar, Christian; Lebaratoux, Laurence

    2014-08-01

    This paper presents the studies made on the definition and design of a decentralized and modular electrical architecture that can be used for power distribution, active thermal control (ATC), standard inputs-outputs electrical interfaces.Traditionally implemented inside central unit like OBC or RTU, these interfaces can be dispatched in the satellite by using MicroRTU.CNES propose a similar approach of MicroRTU. The system is based on a bus called BRIO (Bus Réparti des IO), which is composed, by a power bus and a RS485 digital bus. BRIO architecture is made with several miniature terminals called BTCU (BRIO Terminal Control Unit) distributed in the spacecraft.The challenge was to design and develop the BTCU with very little volume, low consumption and low cost. The standard BTCU models are developed and qualified with a configuration dedicated to ATC, while the first flight model will fly on MICROSCOPE for PYRO actuations and analogue acquisitions. The design of the BTCU is made in order to be easily adaptable for all type of electric interface needs.Extension of this concept is envisaged for power conditioning and distribution unit, and a Modular PCDU based on BRIO concept is proposed.

  5. Miniaturized autonomous robot

    NASA Astrophysics Data System (ADS)

    Ishihara, Hidenori; Fukuda, Toshio

    1998-01-01

    Many projects developing the miniaturized autonomous robot have been carried out in the whole world. This paper deals with our challenges developing a miniaturized autonomous robot. The miniaturized autonomous robot is defined as the miniaturized closed-loop system with micro processor, microactuators and microsensors. We have developed the micro autonomous robotic system (MARS) consisting of the microprocessor, microsensors, microactuators, communication units and batteries. The MARS controls itself by the downloaded program supplied through the IR communication system. In this paper, we demonstrate several performance of the MARS, and discuss the properties of the miniaturized autonomous robot.

  6. Autonomous Integrated Receive System (AIRS) requirements definition. Volume 2: Design and development

    NASA Technical Reports Server (NTRS)

    Chie, C. M.; White, M. A.; Lindsey, W. C.; Davarian, F.; Dixon, R. C.

    1984-01-01

    Functional requirements and specifications are defined for an autonomous integrated receive system (AIRS) to be used as an improvement in the current tracking and data relay satellite system (TDRSS), and as a receiving system in the future tracking and data acquisition system (TDAS). The AIRS provides improved acquisition, tracking, bit error rate (BER), RFI mitigation techniques, and data operations performance compared to the current TDRSS ground segment receive system. A computer model of the AIRS is used to provide simulation results predicting the performance of AIRS. Cost and technology assessments are included.

  7. A safety-based decision making architecture for autonomous systems

    NASA Technical Reports Server (NTRS)

    Musto, Joseph C.; Lauderbaugh, L. K.

    1991-01-01

    Engineering systems designed specifically for space applications often exhibit a high level of autonomy in the control and decision-making architecture. As the level of autonomy increases, more emphasis must be placed on assimilating the safety functions normally executed at the hardware level or by human supervisors into the control architecture of the system. The development of a decision-making structure which utilizes information on system safety is detailed. A quantitative measure of system safety, called the safety self-information, is defined. This measure is analogous to the reliability self-information defined by McInroy and Saridis, but includes weighting of task constraints to provide a measure of both reliability and cost. An example is presented in which the safety self-information is used as a decision criterion in a mobile robot controller. The safety self-information is shown to be consistent with the entropy-based Theory of Intelligent Machines defined by Saridis.

  8. Autonomous learning by simple dynamical systems with delayed feedback.

    PubMed

    Kaluza, Pablo; Mikhailov, Alexander S

    2014-09-01

    A general scheme for the construction of dynamical systems able to learn generation of the desired kinds of dynamics through adjustment of their internal structure is proposed. The scheme involves intrinsic time-delayed feedback to steer the dynamics towards the target performance. As an example, a system of coupled phase oscillators, which can, by changing the weights of connections between its elements, evolve to a dynamical state with the prescribed (low or high) synchronization level, is considered and investigated.

  9. Autonomous Manoeuvring Systems for Collision Avoidance on Single Carriageway Roads

    PubMed Central

    Jiménez, Felipe; Naranjo, José Eugenio; Gómez, Óscar

    2012-01-01

    The accurate perception of the surroundings of a vehicle has been the subject of study of numerous automotive researchers for many years. Although several projects in this area have been successfully completed, very few prototypes have actually been industrialized and installed in mass produced cars. This indicates that these research efforts must continue in order to improve the present systems. Moreover, the trend to include communication systems in vehicles extends the potential of these perception systems transmitting their information via wireless to other vehicles that may be affected by the surveyed environment. In this paper we present a forward collision warning system based on a laser scanner that is able to detect several potential danger situations. Decision algorithms try to determine the most convenient manoeuvre when evaluating the obstacles’ positions and speeds, road geometry, etc. Once detected, the presented system can act on the actuators of the ego-vehicle as well as transmit this information to other vehicles circulating in the same area using vehicle-to-vehicle communications. The system has been tested for overtaking manoeuvres under different scenarios and the correct actions have been performed. PMID:23443391

  10. Autonomous manoeuvring systems for collision avoidance on single carriageway roads.

    PubMed

    Jiménez, Felipe; Naranjo, José Eugenio; Gómez, Oscar

    2012-11-29

    The accurate perception of the surroundings of a vehicle has been the subject of study of numerous automotive researchers for many years. Although several projects in this area have been successfully completed, very few prototypes have actually been industrialized and installed in mass produced cars. This indicates that these research efforts must continue in order to improve the present systems. Moreover, the trend to include communication systems in vehicles extends the potential of these perception systems transmitting their information via wireless to other vehicles that may be affected by the surveyed environment. In this paper we present a forward collision warning system based on a laser scanner that is able to detect several potential danger situations. Decision algorithms try to determine the most convenient manoeuvre when evaluating the obstacles' positions and speeds, road geometry, etc. Once detected, the presented system can act on the actuators of the ego-vehicle as well as transmit this information to other vehicles circulating in the same area using vehicle-to-vehicle communications. The system has been tested for overtaking manoeuvres under different scenarios and the correct actions have been performed.

  11. Space Station Freedom ECLSS: A step toward autonomous regenerative life support systems

    NASA Technical Reports Server (NTRS)

    Dewberry, Brandon S.

    1990-01-01

    The Environmental Control and Life Support System (ECLSS) is a Freedom Station distributed system with inherent applicability to extensive automation primarily due to its comparatively long control system latencies. These allow longer contemplation times in which to form a more intelligent control strategy and to prevent and diagnose faults. The regenerative nature of the Space Station Freedom ECLSS will contribute closed loop complexities never before encountered in life support systems. A study to determine ECLSS automation approaches has been completed. The ECLSS baseline software and system processes could be augmented with more advanced fault management and regenerative control systems for a more autonomous evolutionary system, as well as serving as a firm foundation for future regenerative life support systems. Emerging advanced software technology and tools can be successfully applied to fault management, but a fully automated life support system will require research and development of regenerative control systems and models. The baseline Environmental Control and Life Support System utilizes ground tests in development of batch chemical and microbial control processes. Long duration regenerative life support systems will require more active chemical and microbial feedback control systems which, in turn, will require advancements in regenerative life support models and tools. These models can be verified using ground and on orbit life support test and operational data, and used in the engineering analysis of proposed intelligent instrumentation feedback and flexible process control technologies for future autonomous regenerative life support systems, including the evolutionary Space Station Freedom ECLSS.

  12. Dual-image guidance system for autonomous vehicle on fast focusing and RGB similarity operation

    NASA Astrophysics Data System (ADS)

    Akiyama, Akira; Kobayashi, Nobuaki; Mutoh, Eiichiro; Kumagai, Hideo; Yamada, Hirofumi; Ishii, Hiromitsu

    2010-08-01

    We have developed the dual camera image guidance system for autonomous vehicle based on the fast focusing and the spot RGB spectrum similarity operation. The fast focusing catches the distance information of outside world as a whole. The spot RGB spectrum similarity operation finds the object surface portion in the image. Our fast focusing algorithm works precisely on the differential image such as the Daubechies wavelet transformed high pass image, the Roberts image, Prewitt image, Sobel image and the Laplacian image. The spot RGB spectrum similarity operation for the surface detection comes from the idea of the laser range finder. The illuminated coherent laser reflects on the object surface and the reflected laser is detected on the spectrum band detector. The RGB spectrum distribution on the selected spot on one camera can give the expected similar spectrum information on the position-matched spot on another camera if the selected spot corresponds to the surface of the object. We move the autonomous vehicle based on the distance detection and the surface detection of the outside world due to the controlled dual color camera system. Our autonomous vehicle is equipped with the controllable independent four wheels drive. This vehicle can avoid the object geometrically even if it is just in front of the object. We mount the dual camera image guidance system on two axes jimbal system to aim the object in space.

  13. Autonomous Integrated Receive System (AIRS) requirements definition. Volume 3: Performance and simulation

    NASA Technical Reports Server (NTRS)

    Chie, C. M.; Su, Y. T.; Lindsey, W. C.; Koukos, J.

    1984-01-01

    The autonomous and integrated aspects of the operation of the AIRS (Autonomous Integrated Receive System) are discussed from a system operation point of view. The advantages of AIRS compared to the existing SSA receive chain equipment are highlighted. The three modes of AIRS operation are addressed in detail. The configurations of the AIRS are defined as a function of the operating modes and the user signal characteristics. Each AIRS configuration selection is made up of three components: the hardware, the software algorithms and the parameters used by these algorithms. A comparison between AIRS and the wide dynamics demodulation (WDD) is provided. The organization of the AIRS analytical/simulation software is described. The modeling and analysis is for simulating the performance of the PN subsystem is documented. The frequence acquisition technique using a frequency-locked loop is also documented. Doppler compensation implementation is described. The technological aspects of employing CCD's for PN acquisition are addressed.

  14. Evolutionary Computation for the Identification of Emergent Behavior in Autonomous Systems

    NASA Technical Reports Server (NTRS)

    Terrile, Richard J.; Guillaume, Alexandre

    2009-01-01

    Over the past several years the Center for Evolutionary Computation and Automated Design at the Jet Propulsion Laboratory has developed a technique based on Evolutionary Computational Methods (ECM) that allows for the automated optimization of complex computationally modeled systems. An important application of this technique is for the identification of emergent behaviors in autonomous systems. Mobility platforms such as rovers or airborne vehicles are now being designed with autonomous mission controllers that can find trajectories over a solution space that is larger than can reasonably be tested. It is critical to identify control behaviors that are not predicted and can have surprising results (both good and bad). These emergent behaviors need to be identified, characterized and either incorporated into or isolated from the acceptable range of control characteristics. We use cluster analysis of automatically retrieved solutions to identify isolated populations of solutions with divergent behaviors.

  15. Docosahexaenoic acid and cognitive function: Is the link mediated by the autonomic nervous system?

    PubMed Central

    Gustafson, Kathleen M.; Colombo, John; Carlson, Susan E.

    2013-01-01

    Docosahexaenoic acid is a long-chain polyunsaturated fatty acid that is found in large quantity in the brain and which has repeatedly been observed to be related in positive ways to both cognitive function and cardiovascular health. The mechanisms through which docosahexaenoic acid affects cognition are not well understood, but in this article, we propose a hypothesis that integrates the positive effects of docosahexaenoic acid in the cognitive and cardiovascular realms through the autonomic nervous system. The autonomic nervous system is known to regulate vital functions such as heart rate and respiration, and has also been linked to basic cognitive components related to arousal and attention. We review the literature from this perspective, and delineate the predictions generated by the hypothesis. In addition, we provide new data showing a link between docosahexaenoic acid and fetal heart rate that is consistent with the hypothesis. PMID:18930644

  16. Effects of water temperature on cardiac autonomic nervous system modulation during foot immersion (foot bath)

    NASA Astrophysics Data System (ADS)

    Nishimura, M.; Ono, K.; Onodera, S.

    2005-08-01

    The purpose of this study was to make clear the effects of water temperature during foot immersion (foot bath) on heart rate, blood pressure, rectal temperature and autonomic nervous system modulation. The subjects performed foot immersion at 25, 35, 41 and 45 degrees Celsius at random, during different days, but always at the same time. Cardiac autonomic nervous system modulation was estimated with the power spectrum analysis of heart rate variability by using the Fast Fourier Transformation. The two frequency components of HRV was measured by integrate low frequency (LF; 0.04- 0.15 Hz) and high frequency (HF; 0.15- 0.40 Hz). HF was used as an indicator of cardiac vagal modulation and was showed logarithmically (LogHF). LogHF during foot immersion at 35 and 41 degrees Celsius was significantly increased. These data indicate that cardiac vagal activity was affected by water temperature during foot immersion (foot bath).

  17. An architectural approach to create self organizing control systems for practical autonomous robots

    NASA Technical Reports Server (NTRS)

    Greiner, Helen

    1991-01-01

    For practical industrial applications, the development of trainable robots is an important and immediate objective. Therefore, the developing of flexible intelligence directly applicable to training is emphasized. It is generally agreed upon by the AI community that the fusion of expert systems, neural networks, and conventionally programmed modules (e.g., a trajectory generator) is promising in the quest for autonomous robotic intelligence. Autonomous robot development is hindered by integration and architectural problems. Some obstacles towards the construction of more general robot control systems are as follows: (1) Growth problem; (2) Software generation; (3) Interaction with environment; (4) Reliability; and (5) Resource limitation. Neural networks can be successfully applied to some of these problems. However, current implementations of neural networks are hampered by the resource limitation problem and must be trained extensively to produce computationally accurate output. A generalization of conventional neural nets is proposed, and an architecture is offered in an attempt to address the above problems.

  18. Bilateral shared autonomous systems with passive and nonpassive input forces under time varying delay.

    PubMed

    Islam, Shafiqul; Liu, Peter X; El Saddik, Abdulmotaleb; Dias, J; Seneviratne, Lakmal

    2015-01-01

    In this paper, we address stability and tracking control problem of bilateral shared autonomous systems in the presence of passive and nonpassive input interaction forces. The design comprises delayed position and position-velocity signals with the known and unknown structures of the master and slave manipulator dynamics. Using novel Lyapunov-Krasovskii functional, stability and tracking conditions of the coupled master-slave shared autonomous systems are developed under symmetrical and unsymmetrical time varying data transmission delays. This condition allows the designer to estimate the control design parameters to ensure position, velocity and synchronizing errors of the master and slave manipulators. Finally, evaluation results are presented to demonstrate the validity of the proposed design for real-time teleoperation applications.

  19. Morphological substrate of autonomic failure and neurohormonal dysfunction in multiple system atrophy: impact on determining phenotype spectrum.

    PubMed

    Ozawa, Tetsutaro

    2007-09-01

    Autonomic failure is a prominent clinical feature of patients with multiple system atrophy (MSA). Neurohormonal dysfunction is also a frequent accompaniment in patients with MSA. The determination of the pathological involvement of the autonomic neurons, which are responsible for circadian rhythms and responses to stress, provides new insight into autonomic failure and neurohormonal dysfunction in MSA. The disruptions of circadian rhythms and responses to stress may underlie the impairment of homeostatic integration responsible for cardiovascular and respiratory failures. These notions lead to the hypothesis that a pathological involvement of autonomic neurons is a significant factor of the poor prognosis of MSA. Beyond this perspective, endeavors to find the morphological phenotype that represents a predominant loss of autonomic neurons may elucidate the full spectrum of pathological involvements in MSA.

  20. Management of excess energy in autonomous photovoltaic systems

    NASA Astrophysics Data System (ADS)

    Ofry, E.; Singer, S.

    1983-01-01

    The installation and use of a variable complementary load for absorbing electrical energy generated by photovoltaic cells (PV) in excess of that needed by the normal load or the battery storage system is described. The excesses are expected to occur due to periodic variations in the solar input during the year. Using the 48-panel PV array at Tel Aviv University as an example, it is shown that overproduction of power by only a few percent per day can lead to degraded battery performance, thereby requiring a quick discharge path once the battery bank is fully charged. Connecting the circuit to heat radiators, air conditioners, or ventilation devices to cool the battery system is demonstrated to avoid the battery overheating problem which would arise from overcharging. A block diagram is furnished of a connection to a fan to provide ventilation around the battery system.